Skip to content

Reader

CC Anti-Canape: Python-CAN Reading Interface Application

Author: Chris Hinkson
Email: Christopher.Hinkson@clubcar.com

Desc: This application is designed to provide reading access to CAN communication from within python as a standalone application.

Github: https://github.com/chrisInTheCode/CC-Anti-Canape
--> To get access to the github repository, please send me an email at the above address

References:
--> https://python-can.readthedocs.io/en/stable/
--> https://cantools.readthedocs.io/en/latest/

ACReader

Provides a thread-based approach for high-level CAN reading.

This class provides total reading functionality for CAN communication, and by extension, SDO protocol. It provides a variety of methods to complete various reading tasks and offers extensive capability in terms of data acquisition and handling. It provides a reading object for CAN messages, implements the python-can module as the backend API for CAN communication, uses can-tools for message decoding, CC DBC-Auto-Parse for custom dbc parsing, CC DOT-Auto-Parse for custom dot parsing, and ACWriter for SDO writing (when getting SDO responses). See each individual method for further documentation on method functionality.

Examples:

myNewWriter = ACWriter(myBusInstance)

Attributes:

Name Type Description
bus

The instance's can.Bus object to read CAN messages on.

Source code in drivers\readers.py
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
class ACReader:
    ''' Provides a thread-based approach for high-level CAN reading.

    This class provides total reading functionality for CAN communication, and by extension, SDO protocol. It provides a variety of methods to complete various reading tasks and offers extensive capability in terms of data acquisition and handling. It provides a reading object for CAN messages, implements the python-can module as the backend API for CAN communication, uses can-tools for message decoding, CC DBC-Auto-Parse for custom dbc parsing, CC DOT-Auto-Parse for custom dot parsing, and ACWriter for SDO writing (when getting SDO responses). See each individual method for further documentation on method functionality.

    Examples:
        myNewWriter = ACWriter(myBusInstance)

    Attributes:
        bus: The instance's can.Bus object to read CAN messages on.
    '''
    #########################
    # OBJECT INITIALIZATION #
    #########################
    def __init__(self, busIn:Bus) -> None:
        ''' Initializes the reader class.

        Args:
            busIn (Bus): The bus object to read CAN messages on.
        '''
        # Set the bus
        # NOTE: The bus can be closed at the end of main program execution. If the bus is closed, the same bus object will need to be opened or this class will need
        #       to be reinitialized.
        self.bus = busIn

        # Configure the DBC
        # [https://cantools.readthedocs.io/en/latest/]
        self.dbc = cantools.db.load_file(filename='ccPythonDBC.dbc', cache_dir='./CANcache') #DBC Database

        # Creates a Buffered Reader - All messages go into a queue
        # [https://python-can.readthedocs.io/en/stable/listeners.html#bufferedreader]
        self.bufferReader = NewBufferedReader()

        # Creates a Notifier - Enables the listener to hear the configured Bus
        # [https://python-can.readthedocs.io/en/stable/listeners.html#notifier]
        self.bufferNotifier = Notifier(bus=self.bus, listeners=[self.bufferReader], timeout=None, loop=None)

        # In case SDO support enabled, load the DOT parser here
        self.dotParser = None

        # Terminal Message
        print("CC Anti-Canape: Reader Object Has Been Initialized!")


    ##################
    # QUICK ENCODING #
    ##################
    def encodeitlol(self, IDIn:int, signalDictIn:dict) -> Message:
        ''' A quick support method for encoding an arbitration ID and signal dictionary into a CAN message.

        Args:
            IDIn (int): The CAN Arbitration ID.
            signalDictIn (dict): A dictionary of signal-value pairs.

        Returns:
            Message: Encoded CAN Message including the arbitration ID and signal dictionary.
        '''            
        # Encode data into byte array for CAN communication using the DBC file
        # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.encode_message]
        encodedData = self.dbc.encode_message(IDIn, signalDictIn)
        return encodedData


    ##############################
    # SINGLE READING FROM CANBUS #
    ##############################
    def singleCanScanOnBus(self, timeoutIn:int = None) -> list:
        ''' Gets the next available message in the CAN message buffer.

        Args:
            timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

        Raises:
            AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

        Returns:
            list: Messsage Information Array [ID, Data, Timestamp]
        '''        
        from drivers.automator import BusOverloadError, AntiCanapeError 
        # Get the next available message and decode it
        try:
            # Grab the message from the buffer that has been there the longest (FIFO)
            # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
            currentMessage = self.bufferReader.get_message(timeout=timeoutIn)
            # Decode the message into usable information
            # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
            decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

        ##############################
        # GENERAL EXCEPTION HANDLING #
        ##############################
        except (KeyboardInterrupt) as exc: #For when user interrupts program
            print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise AntiCanapeError(exc)
            raise # If debug mode off, still raise the error as is
        except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A PCAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A CAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (AttributeError) as exc: # Silly attribute errors
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: An Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise

        # Return decoded data
        return [currentMessage.arbitration_id, decodedData, currentMessage.timestamp]


    ###################################
    # FIND NEXT MESSAGE WITH GIVEN ID #
    ###################################
    def singleCanScanOnID(self, IDIn: int, timeoutIn:int = None) -> list:
        ''' Will get the next available message in the CAN message buffer for the given ID. This method is preferred when searching for an ID because it will keep the BUS, channel, reader, and notifier open UNTIL the message is found, versus opening and closing it for every message. 

        Args:
            IDIn (int): The ID to scan for on the CAN Bus Buffer.
            timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

        Raises:
            AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

        Returns:
            list: Messsage Information Array [ID, Data, Timestamp]
        '''        
        from drivers.automator import BusOverloadError, AntiCanapeError 
        # Get the next message and decode it
        try:
            # Grab the message from the buffer that has been there the longest (FIFO)
            # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
            currentMessage = self.bufferReader.get_message(timeout=timeoutIn)

            # Set a flag to use
            messageFoundFlag = False
            # While the correct message has not been found
            while messageFoundFlag == False:

                # Catch error/empty message with no ID
                try:
                    # Check if the message ID matches the wanted ID
                    if (int(currentMessage.arbitration_id) == int(IDIn)):
                        #Set the message found flag to true so it stops iterating
                        messageFoundFlag = True
                    # If the ID does not match, then get next message and iterate again
                    else:
                        currentMessage = self.bufferReader.get_message(timeout=10)

                ##############################
                # GENERAL EXCEPTION HANDLING #
                ##############################
                except (KeyboardInterrupt) as exc: #For when user interrupts program
                    print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
                    if DEBUG_MODE:
                        logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                        logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                        logging.error(exc)
                        raise AntiCanapeError(exc)
                    raise # If debug mode off, still raise the error as is
                except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
                    if DEBUG_MODE:
                        logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                        logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                        logging.error(exc)
                    raise AntiCanapeError(exc)
                except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
                    if DEBUG_MODE:
                        logging.debug("CC Anti-Canape: A PCAN Error was detected!")
                        logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                        logging.error(exc)
                    raise AntiCanapeError(exc)
                except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
                    if DEBUG_MODE:
                        logging.debug("CC Anti-Canape: A CAN Error was detected!")
                        logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                        logging.error(exc)
                    raise AntiCanapeError(exc)
                except (AttributeError) as exc: # Silly attribute errors
                    if DEBUG_MODE:
                        logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
                        logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                        logging.error(exc)
                    raise AntiCanapeError(exc)
                except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
                    if DEBUG_MODE:
                        logging.debug("CC Anti-Canape: An Error was detected!")
                        logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                        logging.error(exc)
                        raise

            # Decode the message into usable information
            # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
            decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

        # All message handling, as long as DEBUG_MODE is on
        except(AntiCanapeError) as exc:
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: An Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise

        # Return decoded data
        return [currentMessage.arbitration_id, decodedData, currentMessage.timestamp]


    #######################################
    # FIND NEXT MESSAGE FROM GIVEN ID SET #
    #######################################
    def singleCanScanOnIDSet(self, IDArrayIn: list, timeoutIn:int = None) -> list:
        ''' Will get the next available message in the CAN message buffer for any of the given ID's. This method is preferred when searching for a message from a set of ID's because it will keep the BUS, channel, reader, and notifier open UNTIL the message is found, versus opening and closing it for every message. 

        Args:
            IDArrayIn (list[int]): List of ID's to scan for.
            timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

        Raises:
            AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

        Returns:
            list: Messsage Information Array [ID, Data, Timestamp].
        '''    
        from drivers.automator import BusOverloadError, AntiCanapeError    
        # Get the next message and decode it
        try:

            # Grab the message from the buffer that has been there the longest (FIFO)
            # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
            currentMessage = self.bufferReader.get_message(timeout=timeoutIn)

            # Set a flag to use
            messageFoundFlag = False
            # While the correct message has not been found
            while messageFoundFlag == False:
                # Check if the message ID is in the wanted ID array
                if int(currentMessage.arbitration_id) in IDArrayIn:
                    #Set the message found flag to true so it stops iterating
                    messageFoundFlag = True
                # If the ID does not match, then get next message and iterate again
                else:
                    currentMessage = self.bufferReader.get_message(timeout=None)

            # Decode the message into usable information
            # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
            decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

        ##############################
        # GENERAL EXCEPTION HANDLING #
        ##############################
        except (KeyboardInterrupt) as exc: #For when user interrupts program
            print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise AntiCanapeError(exc)
            raise # If debug mode off, still raise the error as is
        except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A PCAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A CAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (AttributeError) as exc: # Silly attribute errors
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: An Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise

        # Return decoded data
        return [currentMessage.arbitration_id, decodedData, currentMessage.timestamp]


    #################################
    # CONTINUAL READING FROM CANBUS #
    #################################
    def continualCanScanOnBus(self, timeoutIn:int=None) -> list:
        ''' Continues to get the next message from the CAN message buffer. This method is preferred when continously scanning for messages because it will keep the BUS, channel, reader, and notifier while iterating, instead of opening and closing them each for each message.

        Args:
            timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

        Raises:
            AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

        Returns:
            list: Array of Messsage Information Arrays [ [ID, Data, Timestamp], [ID, Data, Timestamp] ... ].
        '''    
        from drivers.automator import BusOverloadError, AntiCanapeError 
        # Get the next message and decode it
        try:
            #Create an array for storage of data arrays
            outputCanArray = []

            #Continue to iterate until keyboard interrupt is received
            try:
                while True:
                    # Grab the message from the buffer that has been there the longest (FIFO)
                    # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
                    currentMessage = self.bufferReader.get_message(timeout=timeoutIn)

                    # Decode the message into usable information
                    # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
                    decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

                    # Add the decoded data and message information to a message-specific array, and store it inside output array
                    outputCanArray.append([currentMessage.arbitration_id, decodedData, currentMessage.timestamp])
                    # Print the decoded data and message information to the terminal
                    print("---------- ID: " + str(currentMessage.arbitration_id) + " ----------")

                    for signalName, value in decodedData.items():
                        print('Signal: ' + str(signalName) + ' = ' + str(value))

                    print("---------- TIME: " + str(currentMessage.timestamp) + " ----------")
                    print()

            except KeyboardInterrupt:
                print("CC Anti-Canape: KEYBOARD INTERRUPT DETECTED. HALTING SCAN EXECUTION.")

        ##############################
        # GENERAL EXCEPTION HANDLING #
        ##############################
        except (KeyboardInterrupt) as exc: #For when user interrupts program
            print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise AntiCanapeError(exc)
            raise # If debug mode off, still raise the error as is
        except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A PCAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A CAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (AttributeError) as exc: # Silly attribute errors
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: An Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise

        # Return decoded data
        return outputCanArray


    ##################################
    # GET ALL MESSAGES WITH GIVEN ID #
    ##################################
    def continualCanScanOnID(self, IDIn: int, timeoutIn:int=None) -> list:
        ''' Will get the all available messages in the CAN message buffer for the given ID. This method is preferred when continually searching for an ID because it will keep the BUS, channel, reader, and notifier open UNTIL the message is found, versus opening and closing it for every message. 

        Args:
            IDIn (int): The ID to scan for.
            timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

        Raises:
            AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

        Returns:
            list: Array of Messsage Information Arrays [ [ID, Data, Timestamp] ... ].
        '''        
        from drivers.automator import BusOverloadError, AntiCanapeError 
        # Get the next message and decode it
        try:
            #Create an array for storage of data arrays
            outputCanArray = []

            #Continue to iterate until keyboard interrupt is received
            try:
                while True:
                    # Grab the message from the buffer that has been there the longest (FIFO)
                    # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
                    currentMessage = self.bufferReader.get_message(timeout=timeoutIn)

                    # Check if the message ID matches the wanted ID
                    if (int(currentMessage.arbitration_id) == int(IDIn)):
                        # Decode the message into usable information
                        # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
                        decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

                        # Add the decoded data and message information to a message-specific array, and store it inside output array
                        outputCanArray.append([[currentMessage.arbitration_id, decodedData, currentMessage.timestamp]])
                        # Print the decoded data and message information to the terminal
                        print("---------- ID: " + str(currentMessage.arbitration_id) + " ----------")

                        for signalName, value in decodedData.items():
                            print('Signal: ' + str(signalName) + ' = ' + str(value))

                        print("---------- TIME: " + str(currentMessage.timestamp) + " ----------")
                        print()

            except KeyboardInterrupt:
                print("CC Anti-Canape: KEYBOARD INTERRUPT DETECTED. HALTING SCAN EXECUTION.")


        ##############################
        # GENERAL EXCEPTION HANDLING #
        ##############################
        except (KeyboardInterrupt) as exc: #For when user interrupts program
            print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise AntiCanapeError(exc)
            raise # If debug mode off, still raise the error as is
        except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A PCAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A CAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (AttributeError) as exc: # Silly attribute errors
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: An Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise

        # Return decoded data
        return outputCanArray


    ######################################
    # GET ALL MESSAGES FROM GIVEN ID SET #
    ######################################
    def continualCanScanOnIDSet(self, IDArrayIn: list, timeoutIn:int=None) -> list:
        ''' Will get the all available messages in the CAN message buffer for the given ID set. This method is preferred when continually searching for multiple ID's because it will keep the BUS, channel, reader, and notifier open UNTIL a message is found, versus opening and closing it for every message. 

        Args:
            IDArrayIn (list): List of ID's to scan for.
            timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

        Raises:
            AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

        Returns:
            list: Array of Messsage Information Arrays [ [ID, Data, Timestamp] ... ].
        '''        
        from drivers.automator import BusOverloadError, AntiCanapeError 
        # Get the next message and decode it
        try:
            #Create an array for storage of data arrays
            outputCanArray = []

            #Continue to iterate until keyboard interrupt is received
            try:
                while True:
                    # Grab the message from the buffer that has been there the longest (FIFO)
                    # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
                    currentMessage = self.bufferReader.get_message(timeout=timeoutIn)

                    # Check if the message ID is in the wanted ID array
                    if int(currentMessage.arbitration_id) in IDArrayIn:
                        # Decode the message into usable information
                        # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
                        decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

                        # Add the decoded data and message information to a message-specific array, and store it inside output array
                        outputCanArray.append([[currentMessage.arbitration_id, decodedData, currentMessage.timestamp]])
                        # Print the decoded data and message information to the terminal
                        print("---------- ID: " + str(currentMessage.arbitration_id) + " ----------")

                        for signalName, value in decodedData.items():
                            print('Signal: ' + str(signalName) + ' = ' + str(value))

                        print("---------- TIME: " + str(currentMessage.timestamp) + " ----------")
                        print()

            except KeyboardInterrupt:
                print("CC Anti-Canape: KEYBOARD INTERRUPT DETECTED. HALTING SCAN EXECUTION.")


        ##############################
        # GENERAL EXCEPTION HANDLING #
        ##############################
        except (KeyboardInterrupt) as exc: #For when user interrupts program
            print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise AntiCanapeError(exc)
            raise # If debug mode off, still raise the error as is
        except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A PCAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A CAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (AttributeError) as exc: # Silly attribute errors
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: An Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise

        # Return decoded data
        return outputCanArray


    ###################################
    # LOAD A DOT PARSER INTO INSTANCE #
    ###################################
    def loadDotParser(self, dotParser:object) -> True:
        '''This method is designed to load a DOT parser object into the writer instance for use with SDO messages. Specifically, it is used in singleSdoWrite() to lookup a hex index for a given SDO parameter name.

        Args:
            dotParser (dotParse): The dotAutoParse dotParse() object to use as for instance dot parsing.

        Returns:
            bool: True if method completed without error, False otherwise.
        '''        
        self.dotParser = dotParser
        return True


    ####################
    # GET SDO RESPONSE #
    ####################
    def getSdoResponse(self, doPrint:bool=True, timeoutIn:int=None) -> list:
        ''' Will scan the bus for any message with the SDO response ID, used for all SDO responses to all commands.

        Args:
            doPrint (bool, optional): Determines if response output should be printed to the terminal. Defaults to True.
            timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

        Raises:
            AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

        Returns:
            list: List containing SDO response information including raw message, type identifier, and payload.
        '''        
        from automator import BusOverloadError, AntiCanapeError # For exception handling
        try:
            # Response on ID 1461 (response ID: Hex 05b5)
            try:
                rawResponse = self.singleCanScanOnID(IDIn=1461, timeoutIn=timeoutIn)

            ##############################
            # GENERAL EXCEPTION HANDLING #
            ##############################
            except (KeyboardInterrupt) as exc: #For when user interrupts program
                print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                    raise AntiCanapeError(exc)
                raise # If debug mode off, still raise the error as is
            except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                raise AntiCanapeError(exc)
            except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: A PCAN Error was detected!")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                raise AntiCanapeError(exc)
            except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: A CAN Error was detected!")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                raise AntiCanapeError(exc)
            except (AttributeError) as exc: # Silly attribute errors
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                raise AntiCanapeError(exc)
            except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: An Error was detected!")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                    raise

            rawResponseDict = rawResponse[1]
            # If the value is 96 in decimal, then successful write has been performed
            if (rawResponseDict['SDO_VCM_Response_CMD'] == 96):
                if doPrint:
                    print("CC Anti-Canape: Write Success Has Been Detected!")
                return [rawResponse, rawResponseDict, 'writesuccess', rawResponseDict["SDO_VCM_Response_Payload"]]

            # If the value is 67 in decimal, then successful read has been performed
            elif (rawResponseDict['SDO_VCM_Response_CMD'] == 67):
                if doPrint:
                    print("CC Anti-Canape: Read Success Has Been Detected With 4-Byte Payload!")
                    print("The value of", self.dotParser.getParameterNameFromDecId(str(rawResponseDict["SDO_VCM_Response_Index"])), "is currently", rawResponseDict["SDO_VCM_Response_Payload"])
                return [rawResponse, rawResponseDict, 'readsuccess', rawResponseDict["SDO_VCM_Response_Payload"]]

            # If the value is 71 in decimal, then successful read has been performed
            elif (rawResponseDict['SDO_VCM_Response_CMD'] == 71):
                if doPrint:
                    print("CC Anti-Canape: Read Success Has Been Detected With 3-Byte Payload!")
                    print("The value of", self.dotParser.getParameterNameFromDecId(str(rawResponseDict["SDO_VCM_Response_Index"])), "is currently", rawResponseDict["SDO_VCM_Response_Payload"])
                return [rawResponse, rawResponseDict, 'readsuccess', rawResponseDict["SDO_VCM_Response_Payload"]]

            # If the value is 75 in decimal, then successful read has been performed
            elif (rawResponseDict['SDO_VCM_Response_CMD'] == 75):
                if doPrint:
                    print("CC Anti-Canape: Read Success Has Been Detected With 2-Byte Payload!")
                    print("The value of", self.dotParser.getParameterNameFromDecId(str(rawResponseDict["SDO_VCM_Response_Index"])), "is currently", rawResponseDict["SDO_VCM_Response_Payload"])
                return [rawResponse, rawResponseDict, 'readsuccess', rawResponseDict["SDO_VCM_Response_Payload"]]

            # If the value is 79 in decimal, then successful read has been performed
            elif (rawResponseDict['SDO_VCM_Response_CMD'] == 79):
                if doPrint:
                    print("CC Anti-Canape: Read Success Has Been Detected With 1-Byte Payload!")
                    print("The value of",  self.dotParser.getParameterNameFromDecId(str(rawResponseDict["SDO_VCM_Response_Index"])), "is currently", rawResponseDict["SDO_VCM_Response_Payload"])
                return [rawResponse, rawResponseDict, 'readsuccess', rawResponseDict["SDO_VCM_Response_Payload"]]

            # If the value is 128 in decimal, then write failed
            elif (rawResponseDict['SDO_VCM_Response_CMD'] == 128):
                if doPrint:
                    print("CC Anti-Canape: Message Failure Has Been Detected!")
                return [rawResponse, rawResponseDict, 'failure']


        except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: An Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise

        except KeyError as exc:
            print("CC Anti-Canape: There was an issue getting SDO response!")
            print(exc)
            raise KeyboardInterrupt



    ###################
    # SINGLE SDO READ #
    ###################
    def singleSdoRead(self, mainId:Union[str, int], subId:str="00", writer:ACWriter=None, timeoutIn:int=None) -> bool:
        """ Will perform a read command to the VCM over the CAN Bus for a given SDO ID.

        Args:
            mainId (str or int): The SDO ID to read on the VCM [NOT the CAN Arbitration ID].
            subId (str, optional): The SDO sub-ID if it has been changed for a message. Defaults to "00".
            writer(ACWriter): The writer to use for the SDO read command.
            timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

        Raises:
            AntiCanapeError: Custom Exception that allows for general exception handling and debugging information. 

        Returns:
            bool: True if method completed without error, False otherwise.
        """        
        from drivers.automator import BusOverloadError, AntiCanapeError 
        # Catch any exceptions
        try:
            # Import writer

            localWriter = writer

            # Redefine the ID to be a string for checking
            strId = str(mainId)

            # Initialize a blank splitHexId for Endian conversion
            hexId = ""

            # Initialize a blank finalId for post-conversion
            finalPayload = ""

            # If the id begins with '0x', it is hex ID
            if (strId[0] == '0') and (strId[1] == 'x'):
                hexId = strId

            # If the id is all numbers, it is decimal
            elif (strId.isdigit()):
                # Convert to int and save
                hexId = hex(int(strId))

            # Else, it is a parameter name, so call for hex ID
            else:
                # If the DOT parser has not been loaded, tell user to load it first
                if (self.dotParser == None):
                    print("CC Anti-Canape: Please load DOT parser before writing using parameter names!")
                    return False

                # If the DOT parser has been loaded, use it to find hex ID
                else:
                    hexId = self.dotParser.getHexIdFromParameterName(strId)

            # Add initial write command identifier to payload
            finalPayload += "43"

            # Convert to Little Endian and add to final payload 
            finalPayload += hexId[4]
            finalPayload += hexId[5]
            finalPayload += hexId[2]
            finalPayload += hexId[3]

            # Add the sub index to the final payload
            finalPayload += subId

            # Add empty payload to the final payload
            finalPayload += "00000000"

            # Send the SDO Message
            localWriter.singleCanWriteRawOnID(IDIn=1589, bytes=finalPayload, timeoutIn=timeoutIn)

            # Return True if it has made it this far
            return True

        except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: An Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise

__init__(busIn)

Initializes the reader class.

Parameters:

Name Type Description Default
busIn Bus

The bus object to read CAN messages on.

required
Source code in drivers\readers.py
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
def __init__(self, busIn:Bus) -> None:
    ''' Initializes the reader class.

    Args:
        busIn (Bus): The bus object to read CAN messages on.
    '''
    # Set the bus
    # NOTE: The bus can be closed at the end of main program execution. If the bus is closed, the same bus object will need to be opened or this class will need
    #       to be reinitialized.
    self.bus = busIn

    # Configure the DBC
    # [https://cantools.readthedocs.io/en/latest/]
    self.dbc = cantools.db.load_file(filename='ccPythonDBC.dbc', cache_dir='./CANcache') #DBC Database

    # Creates a Buffered Reader - All messages go into a queue
    # [https://python-can.readthedocs.io/en/stable/listeners.html#bufferedreader]
    self.bufferReader = NewBufferedReader()

    # Creates a Notifier - Enables the listener to hear the configured Bus
    # [https://python-can.readthedocs.io/en/stable/listeners.html#notifier]
    self.bufferNotifier = Notifier(bus=self.bus, listeners=[self.bufferReader], timeout=None, loop=None)

    # In case SDO support enabled, load the DOT parser here
    self.dotParser = None

    # Terminal Message
    print("CC Anti-Canape: Reader Object Has Been Initialized!")

continualCanScanOnBus(timeoutIn=None)

Continues to get the next message from the CAN message buffer. This method is preferred when continously scanning for messages because it will keep the BUS, channel, reader, and notifier while iterating, instead of opening and closing them each for each message.

Parameters:

Name Type Description Default
timeoutIn int

The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

None

Raises:

Type Description
AntiCanapeError

Custom Exception that allows for general exception handling and debugging information.

Returns:

Name Type Description
list list

Array of Messsage Information Arrays [ [ID, Data, Timestamp], [ID, Data, Timestamp] ... ].

Source code in drivers\readers.py
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
def continualCanScanOnBus(self, timeoutIn:int=None) -> list:
    ''' Continues to get the next message from the CAN message buffer. This method is preferred when continously scanning for messages because it will keep the BUS, channel, reader, and notifier while iterating, instead of opening and closing them each for each message.

    Args:
        timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

    Raises:
        AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

    Returns:
        list: Array of Messsage Information Arrays [ [ID, Data, Timestamp], [ID, Data, Timestamp] ... ].
    '''    
    from drivers.automator import BusOverloadError, AntiCanapeError 
    # Get the next message and decode it
    try:
        #Create an array for storage of data arrays
        outputCanArray = []

        #Continue to iterate until keyboard interrupt is received
        try:
            while True:
                # Grab the message from the buffer that has been there the longest (FIFO)
                # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
                currentMessage = self.bufferReader.get_message(timeout=timeoutIn)

                # Decode the message into usable information
                # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
                decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

                # Add the decoded data and message information to a message-specific array, and store it inside output array
                outputCanArray.append([currentMessage.arbitration_id, decodedData, currentMessage.timestamp])
                # Print the decoded data and message information to the terminal
                print("---------- ID: " + str(currentMessage.arbitration_id) + " ----------")

                for signalName, value in decodedData.items():
                    print('Signal: ' + str(signalName) + ' = ' + str(value))

                print("---------- TIME: " + str(currentMessage.timestamp) + " ----------")
                print()

        except KeyboardInterrupt:
            print("CC Anti-Canape: KEYBOARD INTERRUPT DETECTED. HALTING SCAN EXECUTION.")

    ##############################
    # GENERAL EXCEPTION HANDLING #
    ##############################
    except (KeyboardInterrupt) as exc: #For when user interrupts program
        print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise AntiCanapeError(exc)
        raise # If debug mode off, still raise the error as is
    except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A PCAN Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A CAN Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (AttributeError) as exc: # Silly attribute errors
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: An Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise

    # Return decoded data
    return outputCanArray

continualCanScanOnID(IDIn, timeoutIn=None)

Will get the all available messages in the CAN message buffer for the given ID. This method is preferred when continually searching for an ID because it will keep the BUS, channel, reader, and notifier open UNTIL the message is found, versus opening and closing it for every message.

Parameters:

Name Type Description Default
IDIn int

The ID to scan for.

required
timeoutIn int

The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

None

Raises:

Type Description
AntiCanapeError

Custom Exception that allows for general exception handling and debugging information.

Returns:

Name Type Description
list list

Array of Messsage Information Arrays [ [ID, Data, Timestamp] ... ].

Source code in drivers\readers.py
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
def continualCanScanOnID(self, IDIn: int, timeoutIn:int=None) -> list:
    ''' Will get the all available messages in the CAN message buffer for the given ID. This method is preferred when continually searching for an ID because it will keep the BUS, channel, reader, and notifier open UNTIL the message is found, versus opening and closing it for every message. 

    Args:
        IDIn (int): The ID to scan for.
        timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

    Raises:
        AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

    Returns:
        list: Array of Messsage Information Arrays [ [ID, Data, Timestamp] ... ].
    '''        
    from drivers.automator import BusOverloadError, AntiCanapeError 
    # Get the next message and decode it
    try:
        #Create an array for storage of data arrays
        outputCanArray = []

        #Continue to iterate until keyboard interrupt is received
        try:
            while True:
                # Grab the message from the buffer that has been there the longest (FIFO)
                # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
                currentMessage = self.bufferReader.get_message(timeout=timeoutIn)

                # Check if the message ID matches the wanted ID
                if (int(currentMessage.arbitration_id) == int(IDIn)):
                    # Decode the message into usable information
                    # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
                    decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

                    # Add the decoded data and message information to a message-specific array, and store it inside output array
                    outputCanArray.append([[currentMessage.arbitration_id, decodedData, currentMessage.timestamp]])
                    # Print the decoded data and message information to the terminal
                    print("---------- ID: " + str(currentMessage.arbitration_id) + " ----------")

                    for signalName, value in decodedData.items():
                        print('Signal: ' + str(signalName) + ' = ' + str(value))

                    print("---------- TIME: " + str(currentMessage.timestamp) + " ----------")
                    print()

        except KeyboardInterrupt:
            print("CC Anti-Canape: KEYBOARD INTERRUPT DETECTED. HALTING SCAN EXECUTION.")


    ##############################
    # GENERAL EXCEPTION HANDLING #
    ##############################
    except (KeyboardInterrupt) as exc: #For when user interrupts program
        print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise AntiCanapeError(exc)
        raise # If debug mode off, still raise the error as is
    except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A PCAN Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A CAN Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (AttributeError) as exc: # Silly attribute errors
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: An Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise

    # Return decoded data
    return outputCanArray

continualCanScanOnIDSet(IDArrayIn, timeoutIn=None)

Will get the all available messages in the CAN message buffer for the given ID set. This method is preferred when continually searching for multiple ID's because it will keep the BUS, channel, reader, and notifier open UNTIL a message is found, versus opening and closing it for every message.

Parameters:

Name Type Description Default
IDArrayIn list

List of ID's to scan for.

required
timeoutIn int

The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

None

Raises:

Type Description
AntiCanapeError

Custom Exception that allows for general exception handling and debugging information.

Returns:

Name Type Description
list list

Array of Messsage Information Arrays [ [ID, Data, Timestamp] ... ].

Source code in drivers\readers.py
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
def continualCanScanOnIDSet(self, IDArrayIn: list, timeoutIn:int=None) -> list:
    ''' Will get the all available messages in the CAN message buffer for the given ID set. This method is preferred when continually searching for multiple ID's because it will keep the BUS, channel, reader, and notifier open UNTIL a message is found, versus opening and closing it for every message. 

    Args:
        IDArrayIn (list): List of ID's to scan for.
        timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

    Raises:
        AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

    Returns:
        list: Array of Messsage Information Arrays [ [ID, Data, Timestamp] ... ].
    '''        
    from drivers.automator import BusOverloadError, AntiCanapeError 
    # Get the next message and decode it
    try:
        #Create an array for storage of data arrays
        outputCanArray = []

        #Continue to iterate until keyboard interrupt is received
        try:
            while True:
                # Grab the message from the buffer that has been there the longest (FIFO)
                # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
                currentMessage = self.bufferReader.get_message(timeout=timeoutIn)

                # Check if the message ID is in the wanted ID array
                if int(currentMessage.arbitration_id) in IDArrayIn:
                    # Decode the message into usable information
                    # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
                    decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

                    # Add the decoded data and message information to a message-specific array, and store it inside output array
                    outputCanArray.append([[currentMessage.arbitration_id, decodedData, currentMessage.timestamp]])
                    # Print the decoded data and message information to the terminal
                    print("---------- ID: " + str(currentMessage.arbitration_id) + " ----------")

                    for signalName, value in decodedData.items():
                        print('Signal: ' + str(signalName) + ' = ' + str(value))

                    print("---------- TIME: " + str(currentMessage.timestamp) + " ----------")
                    print()

        except KeyboardInterrupt:
            print("CC Anti-Canape: KEYBOARD INTERRUPT DETECTED. HALTING SCAN EXECUTION.")


    ##############################
    # GENERAL EXCEPTION HANDLING #
    ##############################
    except (KeyboardInterrupt) as exc: #For when user interrupts program
        print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise AntiCanapeError(exc)
        raise # If debug mode off, still raise the error as is
    except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A PCAN Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A CAN Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (AttributeError) as exc: # Silly attribute errors
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: An Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise

    # Return decoded data
    return outputCanArray

encodeitlol(IDIn, signalDictIn)

A quick support method for encoding an arbitration ID and signal dictionary into a CAN message.

Parameters:

Name Type Description Default
IDIn int

The CAN Arbitration ID.

required
signalDictIn dict

A dictionary of signal-value pairs.

required

Returns:

Name Type Description
Message Message

Encoded CAN Message including the arbitration ID and signal dictionary.

Source code in drivers\readers.py
131
132
133
134
135
136
137
138
139
140
141
142
143
144
def encodeitlol(self, IDIn:int, signalDictIn:dict) -> Message:
    ''' A quick support method for encoding an arbitration ID and signal dictionary into a CAN message.

    Args:
        IDIn (int): The CAN Arbitration ID.
        signalDictIn (dict): A dictionary of signal-value pairs.

    Returns:
        Message: Encoded CAN Message including the arbitration ID and signal dictionary.
    '''            
    # Encode data into byte array for CAN communication using the DBC file
    # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.encode_message]
    encodedData = self.dbc.encode_message(IDIn, signalDictIn)
    return encodedData

getSdoResponse(doPrint=True, timeoutIn=None)

Will scan the bus for any message with the SDO response ID, used for all SDO responses to all commands.

Parameters:

Name Type Description Default
doPrint bool

Determines if response output should be printed to the terminal. Defaults to True.

True
timeoutIn int

The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

None

Raises:

Type Description
AntiCanapeError

Custom Exception that allows for general exception handling and debugging information.

Returns:

Name Type Description
list list

List containing SDO response information including raw message, type identifier, and payload.

Source code in drivers\readers.py
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
def getSdoResponse(self, doPrint:bool=True, timeoutIn:int=None) -> list:
    ''' Will scan the bus for any message with the SDO response ID, used for all SDO responses to all commands.

    Args:
        doPrint (bool, optional): Determines if response output should be printed to the terminal. Defaults to True.
        timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

    Raises:
        AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

    Returns:
        list: List containing SDO response information including raw message, type identifier, and payload.
    '''        
    from automator import BusOverloadError, AntiCanapeError # For exception handling
    try:
        # Response on ID 1461 (response ID: Hex 05b5)
        try:
            rawResponse = self.singleCanScanOnID(IDIn=1461, timeoutIn=timeoutIn)

        ##############################
        # GENERAL EXCEPTION HANDLING #
        ##############################
        except (KeyboardInterrupt) as exc: #For when user interrupts program
            print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise AntiCanapeError(exc)
            raise # If debug mode off, still raise the error as is
        except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A PCAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: A CAN Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except (AttributeError) as exc: # Silly attribute errors
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
            raise AntiCanapeError(exc)
        except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
            if DEBUG_MODE:
                logging.debug("CC Anti-Canape: An Error was detected!")
                logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                logging.error(exc)
                raise

        rawResponseDict = rawResponse[1]
        # If the value is 96 in decimal, then successful write has been performed
        if (rawResponseDict['SDO_VCM_Response_CMD'] == 96):
            if doPrint:
                print("CC Anti-Canape: Write Success Has Been Detected!")
            return [rawResponse, rawResponseDict, 'writesuccess', rawResponseDict["SDO_VCM_Response_Payload"]]

        # If the value is 67 in decimal, then successful read has been performed
        elif (rawResponseDict['SDO_VCM_Response_CMD'] == 67):
            if doPrint:
                print("CC Anti-Canape: Read Success Has Been Detected With 4-Byte Payload!")
                print("The value of", self.dotParser.getParameterNameFromDecId(str(rawResponseDict["SDO_VCM_Response_Index"])), "is currently", rawResponseDict["SDO_VCM_Response_Payload"])
            return [rawResponse, rawResponseDict, 'readsuccess', rawResponseDict["SDO_VCM_Response_Payload"]]

        # If the value is 71 in decimal, then successful read has been performed
        elif (rawResponseDict['SDO_VCM_Response_CMD'] == 71):
            if doPrint:
                print("CC Anti-Canape: Read Success Has Been Detected With 3-Byte Payload!")
                print("The value of", self.dotParser.getParameterNameFromDecId(str(rawResponseDict["SDO_VCM_Response_Index"])), "is currently", rawResponseDict["SDO_VCM_Response_Payload"])
            return [rawResponse, rawResponseDict, 'readsuccess', rawResponseDict["SDO_VCM_Response_Payload"]]

        # If the value is 75 in decimal, then successful read has been performed
        elif (rawResponseDict['SDO_VCM_Response_CMD'] == 75):
            if doPrint:
                print("CC Anti-Canape: Read Success Has Been Detected With 2-Byte Payload!")
                print("The value of", self.dotParser.getParameterNameFromDecId(str(rawResponseDict["SDO_VCM_Response_Index"])), "is currently", rawResponseDict["SDO_VCM_Response_Payload"])
            return [rawResponse, rawResponseDict, 'readsuccess', rawResponseDict["SDO_VCM_Response_Payload"]]

        # If the value is 79 in decimal, then successful read has been performed
        elif (rawResponseDict['SDO_VCM_Response_CMD'] == 79):
            if doPrint:
                print("CC Anti-Canape: Read Success Has Been Detected With 1-Byte Payload!")
                print("The value of",  self.dotParser.getParameterNameFromDecId(str(rawResponseDict["SDO_VCM_Response_Index"])), "is currently", rawResponseDict["SDO_VCM_Response_Payload"])
            return [rawResponse, rawResponseDict, 'readsuccess', rawResponseDict["SDO_VCM_Response_Payload"]]

        # If the value is 128 in decimal, then write failed
        elif (rawResponseDict['SDO_VCM_Response_CMD'] == 128):
            if doPrint:
                print("CC Anti-Canape: Message Failure Has Been Detected!")
            return [rawResponse, rawResponseDict, 'failure']


    except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: An Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise

    except KeyError as exc:
        print("CC Anti-Canape: There was an issue getting SDO response!")
        print(exc)
        raise KeyboardInterrupt

loadDotParser(dotParser)

This method is designed to load a DOT parser object into the writer instance for use with SDO messages. Specifically, it is used in singleSdoWrite() to lookup a hex index for a given SDO parameter name.

Parameters:

Name Type Description Default
dotParser dotParse

The dotAutoParse dotParse() object to use as for instance dot parsing.

required

Returns:

Name Type Description
bool True

True if method completed without error, False otherwise.

Source code in drivers\readers.py
687
688
689
690
691
692
693
694
695
696
697
def loadDotParser(self, dotParser:object) -> True:
    '''This method is designed to load a DOT parser object into the writer instance for use with SDO messages. Specifically, it is used in singleSdoWrite() to lookup a hex index for a given SDO parameter name.

    Args:
        dotParser (dotParse): The dotAutoParse dotParse() object to use as for instance dot parsing.

    Returns:
        bool: True if method completed without error, False otherwise.
    '''        
    self.dotParser = dotParser
    return True

singleCanScanOnBus(timeoutIn=None)

Gets the next available message in the CAN message buffer.

Parameters:

Name Type Description Default
timeoutIn int

The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

None

Raises:

Type Description
AntiCanapeError

Custom Exception that allows for general exception handling and debugging information.

Returns:

Name Type Description
list list

Messsage Information Array [ID, Data, Timestamp]

Source code in drivers\readers.py
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
def singleCanScanOnBus(self, timeoutIn:int = None) -> list:
    ''' Gets the next available message in the CAN message buffer.

    Args:
        timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

    Raises:
        AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

    Returns:
        list: Messsage Information Array [ID, Data, Timestamp]
    '''        
    from drivers.automator import BusOverloadError, AntiCanapeError 
    # Get the next available message and decode it
    try:
        # Grab the message from the buffer that has been there the longest (FIFO)
        # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
        currentMessage = self.bufferReader.get_message(timeout=timeoutIn)
        # Decode the message into usable information
        # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
        decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

    ##############################
    # GENERAL EXCEPTION HANDLING #
    ##############################
    except (KeyboardInterrupt) as exc: #For when user interrupts program
        print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise AntiCanapeError(exc)
        raise # If debug mode off, still raise the error as is
    except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A PCAN Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A CAN Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (AttributeError) as exc: # Silly attribute errors
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: An Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise

    # Return decoded data
    return [currentMessage.arbitration_id, decodedData, currentMessage.timestamp]

singleCanScanOnID(IDIn, timeoutIn=None)

Will get the next available message in the CAN message buffer for the given ID. This method is preferred when searching for an ID because it will keep the BUS, channel, reader, and notifier open UNTIL the message is found, versus opening and closing it for every message.

Parameters:

Name Type Description Default
IDIn int

The ID to scan for on the CAN Bus Buffer.

required
timeoutIn int

The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

None

Raises:

Type Description
AntiCanapeError

Custom Exception that allows for general exception handling and debugging information.

Returns:

Name Type Description
list list

Messsage Information Array [ID, Data, Timestamp]

Source code in drivers\readers.py
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
def singleCanScanOnID(self, IDIn: int, timeoutIn:int = None) -> list:
    ''' Will get the next available message in the CAN message buffer for the given ID. This method is preferred when searching for an ID because it will keep the BUS, channel, reader, and notifier open UNTIL the message is found, versus opening and closing it for every message. 

    Args:
        IDIn (int): The ID to scan for on the CAN Bus Buffer.
        timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

    Raises:
        AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

    Returns:
        list: Messsage Information Array [ID, Data, Timestamp]
    '''        
    from drivers.automator import BusOverloadError, AntiCanapeError 
    # Get the next message and decode it
    try:
        # Grab the message from the buffer that has been there the longest (FIFO)
        # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
        currentMessage = self.bufferReader.get_message(timeout=timeoutIn)

        # Set a flag to use
        messageFoundFlag = False
        # While the correct message has not been found
        while messageFoundFlag == False:

            # Catch error/empty message with no ID
            try:
                # Check if the message ID matches the wanted ID
                if (int(currentMessage.arbitration_id) == int(IDIn)):
                    #Set the message found flag to true so it stops iterating
                    messageFoundFlag = True
                # If the ID does not match, then get next message and iterate again
                else:
                    currentMessage = self.bufferReader.get_message(timeout=10)

            ##############################
            # GENERAL EXCEPTION HANDLING #
            ##############################
            except (KeyboardInterrupt) as exc: #For when user interrupts program
                print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                    raise AntiCanapeError(exc)
                raise # If debug mode off, still raise the error as is
            except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                raise AntiCanapeError(exc)
            except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: A PCAN Error was detected!")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                raise AntiCanapeError(exc)
            except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: A CAN Error was detected!")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                raise AntiCanapeError(exc)
            except (AttributeError) as exc: # Silly attribute errors
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                raise AntiCanapeError(exc)
            except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
                if DEBUG_MODE:
                    logging.debug("CC Anti-Canape: An Error was detected!")
                    logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
                    logging.error(exc)
                    raise

        # Decode the message into usable information
        # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
        decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

    # All message handling, as long as DEBUG_MODE is on
    except(AntiCanapeError) as exc:
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: An Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise

    # Return decoded data
    return [currentMessage.arbitration_id, decodedData, currentMessage.timestamp]

singleCanScanOnIDSet(IDArrayIn, timeoutIn=None)

Will get the next available message in the CAN message buffer for any of the given ID's. This method is preferred when searching for a message from a set of ID's because it will keep the BUS, channel, reader, and notifier open UNTIL the message is found, versus opening and closing it for every message.

Parameters:

Name Type Description Default
IDArrayIn list[int]

List of ID's to scan for.

required
timeoutIn int

The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

None

Raises:

Type Description
AntiCanapeError

Custom Exception that allows for general exception handling and debugging information.

Returns:

Name Type Description
list list

Messsage Information Array [ID, Data, Timestamp].

Source code in drivers\readers.py
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
def singleCanScanOnIDSet(self, IDArrayIn: list, timeoutIn:int = None) -> list:
    ''' Will get the next available message in the CAN message buffer for any of the given ID's. This method is preferred when searching for a message from a set of ID's because it will keep the BUS, channel, reader, and notifier open UNTIL the message is found, versus opening and closing it for every message. 

    Args:
        IDArrayIn (list[int]): List of ID's to scan for.
        timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

    Raises:
        AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

    Returns:
        list: Messsage Information Array [ID, Data, Timestamp].
    '''    
    from drivers.automator import BusOverloadError, AntiCanapeError    
    # Get the next message and decode it
    try:

        # Grab the message from the buffer that has been there the longest (FIFO)
        # [https://python-can.readthedocs.io/en/stable/listeners.html#can.BufferedReader.get_message]
        currentMessage = self.bufferReader.get_message(timeout=timeoutIn)

        # Set a flag to use
        messageFoundFlag = False
        # While the correct message has not been found
        while messageFoundFlag == False:
            # Check if the message ID is in the wanted ID array
            if int(currentMessage.arbitration_id) in IDArrayIn:
                #Set the message found flag to true so it stops iterating
                messageFoundFlag = True
            # If the ID does not match, then get next message and iterate again
            else:
                currentMessage = self.bufferReader.get_message(timeout=None)

        # Decode the message into usable information
        # [https://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message]
        decodedData = self.dbc.decode_message(currentMessage.arbitration_id, currentMessage.data) #Decodes using .dbc

    ##############################
    # GENERAL EXCEPTION HANDLING #
    ##############################
    except (KeyboardInterrupt) as exc: #For when user interrupts program
        print("CC Anti-Canape: Program Execution Halted by Keyboard Interrupt!")
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise AntiCanapeError(exc)
        raise # If debug mode off, still raise the error as is
    except (BusOverloadError) as exc: # For when the bus is overloaded / in error state
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A heavy/overloaded bus was detected! Restarting script...")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (PcanError, PcanCanOperationError, PcanCanInitializationError) as exc: # For when pcan has issues
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A PCAN Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (CanError, CanInitializationError, CanInterfaceNotImplementedError, CanOperationError, CanTimeoutError) as exc: # Any CAN error
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A CAN Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except (AttributeError) as exc: # Silly attribute errors
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: There has been an error when scanning for the ID!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
        raise AntiCanapeError(exc)
    except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: An Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise

    # Return decoded data
    return [currentMessage.arbitration_id, decodedData, currentMessage.timestamp]

singleSdoRead(mainId, subId='00', writer=None, timeoutIn=None)

Will perform a read command to the VCM over the CAN Bus for a given SDO ID.

Parameters:

Name Type Description Default
mainId str or int

The SDO ID to read on the VCM [NOT the CAN Arbitration ID].

required
subId str

The SDO sub-ID if it has been changed for a message. Defaults to "00".

'00'
writer(ACWriter)

The writer to use for the SDO read command.

required
timeoutIn int

The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

None

Raises:

Type Description
AntiCanapeError

Custom Exception that allows for general exception handling and debugging information.

Returns:

Name Type Description
bool bool

True if method completed without error, False otherwise.

Source code in drivers\readers.py
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
def singleSdoRead(self, mainId:Union[str, int], subId:str="00", writer:ACWriter=None, timeoutIn:int=None) -> bool:
    """ Will perform a read command to the VCM over the CAN Bus for a given SDO ID.

    Args:
        mainId (str or int): The SDO ID to read on the VCM [NOT the CAN Arbitration ID].
        subId (str, optional): The SDO sub-ID if it has been changed for a message. Defaults to "00".
        writer(ACWriter): The writer to use for the SDO read command.
        timeoutIn (int): The timeout in seconds for reading the message from the bus. Defaults to None. If None, thread continues indefinitely.

    Raises:
        AntiCanapeError: Custom Exception that allows for general exception handling and debugging information. 

    Returns:
        bool: True if method completed without error, False otherwise.
    """        
    from drivers.automator import BusOverloadError, AntiCanapeError 
    # Catch any exceptions
    try:
        # Import writer

        localWriter = writer

        # Redefine the ID to be a string for checking
        strId = str(mainId)

        # Initialize a blank splitHexId for Endian conversion
        hexId = ""

        # Initialize a blank finalId for post-conversion
        finalPayload = ""

        # If the id begins with '0x', it is hex ID
        if (strId[0] == '0') and (strId[1] == 'x'):
            hexId = strId

        # If the id is all numbers, it is decimal
        elif (strId.isdigit()):
            # Convert to int and save
            hexId = hex(int(strId))

        # Else, it is a parameter name, so call for hex ID
        else:
            # If the DOT parser has not been loaded, tell user to load it first
            if (self.dotParser == None):
                print("CC Anti-Canape: Please load DOT parser before writing using parameter names!")
                return False

            # If the DOT parser has been loaded, use it to find hex ID
            else:
                hexId = self.dotParser.getHexIdFromParameterName(strId)

        # Add initial write command identifier to payload
        finalPayload += "43"

        # Convert to Little Endian and add to final payload 
        finalPayload += hexId[4]
        finalPayload += hexId[5]
        finalPayload += hexId[2]
        finalPayload += hexId[3]

        # Add the sub index to the final payload
        finalPayload += subId

        # Add empty payload to the final payload
        finalPayload += "00000000"

        # Send the SDO Message
        localWriter.singleCanWriteRawOnID(IDIn=1589, bytes=finalPayload, timeoutIn=timeoutIn)

        # Return True if it has made it this far
        return True

    except(AntiCanapeError) as exc: # For an Anti-Canape error deeper down
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: An Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)
            raise

NewBufferedReader

Bases: BufferedReader

Overrides the BufferedReader method from python-can. Allows for exception handling.

Parameters:

Name Type Description Default
BufferedReader BufferedReader

A BufferedReader object.

required

Raises:

Type Description
AntiCanapeError

Custom Exception for all errors when debugging.

Source code in drivers\readers.py
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
class NewBufferedReader(BufferedReader):
    '''Overrides the BufferedReader method from python-can. Allows for exception handling.

    Args:
        BufferedReader (BufferedReader): A BufferedReader object.

    Raises:
        AntiCanapeError: Custom Exception for all errors when debugging.
    '''
    # Create an error queue
    exc = Queue()

    def on_error(self, exc: Exception) -> None:
        '''Override the on_error message, allowing us to catch exceptions before they are raided

        Args:
            exc (Exception): Exception from the thread.

        Raises:
            AntiCanapeError: Custom Exception for all errors when debugging.
        '''
        # Put the exception into the queue
        self.exc.put(exc)

        # If the debug queue is on, print it to the logs and raise a new error to stop execution
        if DEBUG_MODE:
            logging.debug("CC Anti-Canape: A CAN Error was detected!")
            logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
            logging.error(exc)

            # Custom Exception :)
            from drivers.automator import AntiCanapeError
            raise AntiCanapeError(exc)

on_error(exc)

Override the on_error message, allowing us to catch exceptions before they are raided

Parameters:

Name Type Description Default
exc Exception

Exception from the thread.

required

Raises:

Type Description
AntiCanapeError

Custom Exception for all errors when debugging.

Source code in drivers\readers.py
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
def on_error(self, exc: Exception) -> None:
    '''Override the on_error message, allowing us to catch exceptions before they are raided

    Args:
        exc (Exception): Exception from the thread.

    Raises:
        AntiCanapeError: Custom Exception for all errors when debugging.
    '''
    # Put the exception into the queue
    self.exc.put(exc)

    # If the debug queue is on, print it to the logs and raise a new error to stop execution
    if DEBUG_MODE:
        logging.debug("CC Anti-Canape: A CAN Error was detected!")
        logging.debug("Error occured on line", cf.f_lineno, "of file", pythonfilename)
        logging.error(exc)

        # Custom Exception :)
        from drivers.automator import AntiCanapeError
        raise AntiCanapeError(exc)