Writer

CC Anti-Canape: Python-CAN Writing Interface Application

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

Desc: This application is designed to provide writing 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/

`ACWriter`

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

This class provides total writing functionality for CAN communication, and by extension, SDO protocol. It provides a variety of methods to complete various writing tasks and offers extensive capability in terms of data acquisition and handling. It provides a writing 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, and CC DOT-Auto-Parse for custom dot parsing. 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\writers.py

class ACWriter:
    ''' Provides a thread-based approach for high-level CAN writing.

    This class provides total writing functionality for CAN communication, and by extension, SDO protocol. It provides a variety of methods to complete various writing tasks and offers extensive capability in terms of data acquisition and handling. It provides a writing 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, and CC DOT-Auto-Parse for custom dot parsing. 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) -> 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

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

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


    ############################
    # SINGLE WRITING TO CANBUS #
    ############################
    def singleCanWriteOnID(self, IDIn:int, signalDictIn:dict, timeoutIn:int=None) -> bool:     
        ''' This method encodes an ID and signal dictionary into a CAN Message Object and sends it on the instance CAN bus.

        Args:
            IDIn (int): The ID of the Message to send.
            signalDictIn (dict): A dictionary of signal:value pairs to write.
            timeoutIn (int): The timeout in seconds for writing the message to 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 no errors occured during execution, False otherwise.
        '''    
        from drivers.automator import AntiCanapeError, BusOverloadError    
        # Create a message and send it
        try:
            # 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)

            # Create a message object with the ID and encoded data (assumed default message flags)
            # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
            messageOutbound = Message(arbitration_id=IDIn, data=encodedData, is_extended_id=False)

            #Send the message on the bus
            # [https://python-can.readthedocs.io/en/stable/bus.html#can.Bus.send]
            self.bus.send(msg=messageOutbound, timeout=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
        # Return true indicating no errors were given
        return True


    #######################################
    # SINGLE WRITE ON ID | WITH RAW INPUT #
    #######################################
    def singleCanWriteRawOnID(self, IDIn:int, bytes:Union[str, bytearray, list], timeoutIn:int=None) -> bool:
        '''This method encodes an ID and raw byte array into a CAN Message Object and sends it on the instance CAN bus.

        Args:
            IDIn (int): The ID of the Message to send.
            bytes (str, bytearray, or list of strings): The Message payload, in raw bytes. Can be given as a string, bytearray, or list of strings (where each list element is a byte of a bytearray).
            timeoutIn (int): The timeout in seconds for writing the message to the bus. Defaults to None. If None, thread continues indefinitely.

        Raises:
            CanError: Occurs when there is an error while attempting to communicate via CAN.
            AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

        Returns:
            bool: True if no errors occured during execution, False otherwise.
        '''        
        from drivers.automator import AntiCanapeError, BusOverloadError 
        # Create a message and send it
        try:
            # If data input is given as bytearray
            # [https://docs.python.org/3/library/stdtypes.html#bytearray]
            if isinstance(bytes, bytearray):
                # Create a message object with the ID and byte array
                # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                messageOutbound = Message(arbitration_id=IDIn, data=bytes, is_extended_id=False)

            # If data input is given as string
            # [https://docs.python.org/3/library/stdtypes.html#bytearray.fromhex]
            elif isinstance(bytes, str):
                # Create a message object with the ID and string
                # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                stringAsByteArray = bytearray.fromhex(bytes)
                messageOutbound = Message(arbitration_id=IDIn, data=stringAsByteArray, is_extended_id=False)

            # If data input is given as list
            # [https://www.dotnetperls.com/bytes-python]
            elif isinstance(bytes, list):
                # If list is composed of integers
                if isinstance(bytes[0], int):
                    # Create a message object with the ID and list
                    # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                    listAsByteArray = bytearray(bytes)
                    messageOutbound = Message(arbitration_id=IDIn, data=listAsByteArray, is_extended_id=False)

                # If list is composed of strings
                elif isinstance(bytes[0], str):
                    # Create a message object with the ID and list
                    # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                    listAsString = ' '.join(bytes)
                    listAsStringAsByteArray = bytearray.fromhex(listAsString)
                    messageOutbound = Message(arbitration_id=IDIn, data=listAsStringAsByteArray, is_extended_id=False)

                #If list is composed of NEITHER int NOR str
                else:
                    print("CC Anti-Canape: Got an incorrect format for the input of bytes!")
                    raise CanError(message="CC Anti-Canape: Got an incorrect format for the input of bytes!")

            else:
                print("CC Anti-Canape: Got an incorrect format for the input of bytes!")
                raise CanError(message="CC Anti-Canape: Got an incorrect format for the input of bytes!")

            #Send the message on the bus
            # [https://python-can.readthedocs.io/en/stable/bus.html#can.Bus.send]
            self.bus.send(msg=messageOutbound, timeout=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

        # Return true indicating no errors were given
        return True


    ####################################
    # CONSTANT WRITING ON ID TO CANBUS #
    ####################################
    def constantCanWriteOnID(self, IDIn:int, signalDictIn:dict, period:float, duration:float, timeoutIn:int=None) -> bool:  
        ''' This method provides efficient access to the CAN bus for continually writing a CAN message for an extended period of time. It keeps one instance open for the bus and writer, nulling the need to open a new instance connection for each message. It operates on a backend thread managed by python-can, but the bus has been internalized to be thread-safe, allowing several cross threads to operate concurrently on the bus. 

        It will continue sending a CAN Message on the instance bus with given ID and signalDict every period (s) for time duration (s).

        Note: If no duration time is specified, it defaults to None, which continues indefinitely. In this case, the thread will need to be closed, or program execution halted with Keyboard Interrupt (CTRL + C).

        Args:
            IDIn (int): The ID of the CAN Message to encode and write on the bus.
            signalDictIn (dict): A dictionary with signal:value pairs to encode and write on the bus.
            period (float): The time in seconds (s) to wait between sending each message.
            duration (float): The length of time in seconds (s) to continue sending the message for.
            timeoutIn (int): The timeout in seconds for writing the message to 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 no errors occured during execution, False otherwise.
        '''        
        from drivers.automator import AntiCanapeError, BusOverloadError   
        # Create a message and send it
        try:
            # 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)

            # Create a message object with the ID and encoded data (assumed default message flags)
            # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
            messageOutbound = Message(arbitration_id=IDIn, data=encodedData)

            # Create the periodic task
            # [https://python-can.readthedocs.io/en/master/bcm.html]
            task = self.bus.send_periodic(msgs=messageOutbound, period=period, duration=duration, timeout=timeoutIn)
            assert isinstance(task, CyclicSendTaskABC)
            sleep(duration)

        ##############################
        # 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 true indicating no errors were given
        return True


    #######################################
    # SINGLE WRITE ON ID | WITH RAW INPUT #
    #######################################
    def constantCanWriteRawOnID(self, IDIn:int, bytes:Union[str, bytearray, list], period:float, duration:float, timeoutIn:int=None) -> bool:
        ''' This method provides efficient access to the CAN bus for continually writing a CAN message for an extended period of time. It keeps one instance open for the bus and writer, nulling the need to open a new instance connection for each message. It operates on a backend thread managed by python-can, but the bus has been internalized to be thread-safe, allowing several cross threads to operate concurrently on the bus. 

        It will continue sending a CAN Message on the instance bus with given ID and bytes payload every period (s) for time duration (s).

        Note: If no duration time is specified, it defaults to None, which continues indefinitely. In this case, the thread will need to be closed, or program execution halted with Keyboard Interrupt (CTRL + C).

        Args:
            IDIn (int): The ID of the CAN Message to write on the bus.
            bytes (str, bytearray, or list of str): The Message payload, in raw bytes. Can be given as a string, bytearray, or list of strings (where each list element is a bit of a bytearray).
            period (float): The time in seconds (s) to wait between sending each message.
            duration (float): The length of time in seconds (s) to continue sending the message for.
            timeoutIn (int): The timeout in seconds for writing the message to 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 no errors occured during execution, False otherwise.
        ''' 
        from drivers.automator import AntiCanapeError, BusOverloadError 
        # Create a message and send it
        try:
            # If data input is given as bytearray
            # [https://docs.python.org/3/library/stdtypes.html#bytearray]
            if isinstance(bytes, bytearray):
                # Create a message object with the ID and byte array
                # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                messageOutbound = Message(arbitration_id=IDIn, data=bytes, is_extended_id=False)

            # If data input is given as string
            # [https://docs.python.org/3/library/stdtypes.html#bytearray.fromhex]
            elif isinstance(bytes, str):
                # Create a message object with the ID and string
                # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                stringAsByteArray = bytearray.fromhex(bytes)
                messageOutbound = Message(arbitration_id=IDIn, data=stringAsByteArray, is_extended_id=False)

            # If data input is given as list
            # [https://www.dotnetperls.com/bytes-python]
            elif isinstance(bytes, list):
                # If list is composed of integers
                if isinstance(bytes[0], int):
                    # Create a message object with the ID and list
                    # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                    listAsByteArray = bytearray(bytes)
                    messageOutbound = Message(arbitration_id=IDIn, data=listAsByteArray, is_extended_id=False)

                # If list is composed of strings
                elif isinstance(bytes[0], str):
                    # Create a message object with the ID and list
                    # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                    listAsString = ' '.join(bytes)
                    listAsStringAsByteArray = bytearray.fromhex(listAsString)
                    messageOutbound = Message(arbitration_id=IDIn, data=listAsStringAsByteArray, is_extended_id=False)

                #If list is composed of NEITHER int NOR str
                else:
                    print("CC Anti-Canape: Got an incorrect format for the input of bytes!")
                    raise CanError(message="")

            else:
                print("CC Anti-Canape: Got an incorrect format for the input of bytes!")
                raise CanError(message="")

            # Create the periodic task
            # [https://python-can.readthedocs.io/en/master/bcm.html]
            task = self.bus.send_periodic(msgs=messageOutbound, period=period, duration=duration, timeout=timeoutIn)
            assert isinstance(task, CyclicSendTaskABC)
            sleep(duration)

        ##############################
        # 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 true indicating no errors were given
        return True


    ###################################
    # LOAD A DOT PARSER INTO INSTANCE #
    ###################################
    def loadDotParser(self, dotParser:object):
        ''' 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() and constantSdoWrite() to lookup a hex index for a given SDO parameter name.

        Args:
            dotParser (dotParse Object): A dotParse() object to be used for looking up hex ID's and parameter names.

        Returns:
            bool: True if no errors occured during execution, False otherwise.
        '''     
        self.dotParser = dotParser
        return True


    ####################
    # SINGLE SDO WRITE #
    ####################
    def singleSdoWrite(self, mainId:Union[str, int], payloadIn:int, subId:str="00", timeoutIn:int=None) -> bool:
        ''' This method is designed to write a single SDO message on the CANBUS.

        Args:
            mainId (str or int): The SDO Index (ID) to write to. It can either be a hex index starting with '0x', a decimal index only consisting of integers, or the parameter name itself as a string.
            payloadIn (int): The payload to send off in decimal representation. Can represent 0-8 bits when converted to hex. 
            subId (str): The SDO Sub-Index(Sub-ID) to write to. It must be in hex. Defaults to "00".
            timeoutIn (int): The timeout in seconds for writing the message to the bus. Defaults to None. If None, thread continues indefinitely.

        Raises:
            AntiCanapeError: If the payload is not 0-8 bytes, then an exception is thrown.
            AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

        Returns:
            bool: True if no errors occured during execution, False otherwise.
        '''     
        from drivers.automator import AntiCanapeError, BusOverloadError   

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

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

            # Initialize a hexPayload for conversion and finalPayload for post-conversion
            # Chop off '0x' from front of hex string
            hexPayload = hex(int(payloadIn))[2:]
            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 += "23"

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

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

            # Check the size of payloadIn and make proper bytestring
            if (len(hexPayload) == 0):
                finalPayload += "00000000"
            elif (len(hexPayload) == 1):
                finalPayload += "0" + hexPayload[0] + "000000"
            elif (len(hexPayload) == 2):
                finalPayload += hexPayload[0] + hexPayload[1] + "000000"
            elif (len(hexPayload) == 3):
                finalPayload += hexPayload[1] + hexPayload[2] + "0" + hexPayload[0] + "0000"
            elif (len(hexPayload) == 4):
                finalPayload += hexPayload[2] + hexPayload[3] + hexPayload[0] + hexPayload[1] + "0000"
            elif (len(hexPayload) == 5):
                finalPayload += hexPayload[3] + hexPayload[4] + hexPayload[1] + hexPayload[2] + "0" + hexPayload[0] + "00"
            elif (len(hexPayload) == 6):
                finalPayload += hexPayload[4] + hexPayload[5] + hexPayload[2] + hexPayload[3] + hexPayload[0] + hexPayload[1] + "00"
            elif (len(hexPayload) == 7):
                finalPayload += hexPayload[5] + hexPayload[6] + hexPayload[3] + hexPayload[4] + hexPayload[1] + hexPayload[2] + "0" + hexPayload[0]
            elif (len(hexPayload) == 8):
                finalPayload += hexPayload[6] + hexPayload[7] + hexPayload[4] + hexPayload[5] + hexPayload[2] + hexPayload[3] + hexPayload[0] + hexPayload[1]

            # If the input payload was not 0-8 bits, raise exception 
            else:
                raise AntiCanapeError("CC Anti-Canape: Payload must be between 0 and 8 bits!")

            # Send the message
            return(self.singleCanWriteRawOnID(IDIn=1589, bytes=finalPayload, 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

`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\writers.py

def __init__(self, busIn) -> 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

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

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

`constantCanWriteOnID(IDIn, signalDictIn, period, duration, timeoutIn=None)`

This method provides efficient access to the CAN bus for continually writing a CAN message for an extended period of time. It keeps one instance open for the bus and writer, nulling the need to open a new instance connection for each message. It operates on a backend thread managed by python-can, but the bus has been internalized to be thread-safe, allowing several cross threads to operate concurrently on the bus.

It will continue sending a CAN Message on the instance bus with given ID and signalDict every period (s) for time duration (s).

Note: If no duration time is specified, it defaults to None, which continues indefinitely. In this case, the thread will need to be closed, or program execution halted with Keyboard Interrupt (CTRL + C).

Parameters:

Name	Type	Description	Default
`IDIn`	`int`	The ID of the CAN Message to encode and write on the bus.	required
`signalDictIn`	`dict`	A dictionary with signal:value pairs to encode and write on the bus.	required
`period`	`float`	The time in seconds (s) to wait between sending each message.	required
`duration`	`float`	The length of time in seconds (s) to continue sending the message for.	required
`timeoutIn`	`int`	The timeout in seconds for writing the message to 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 no errors occured during execution, False otherwise.

Source code in drivers\writers.py

def constantCanWriteOnID(self, IDIn:int, signalDictIn:dict, period:float, duration:float, timeoutIn:int=None) -> bool:  
    ''' This method provides efficient access to the CAN bus for continually writing a CAN message for an extended period of time. It keeps one instance open for the bus and writer, nulling the need to open a new instance connection for each message. It operates on a backend thread managed by python-can, but the bus has been internalized to be thread-safe, allowing several cross threads to operate concurrently on the bus. 

    It will continue sending a CAN Message on the instance bus with given ID and signalDict every period (s) for time duration (s).

    Note: If no duration time is specified, it defaults to None, which continues indefinitely. In this case, the thread will need to be closed, or program execution halted with Keyboard Interrupt (CTRL + C).

    Args:
        IDIn (int): The ID of the CAN Message to encode and write on the bus.
        signalDictIn (dict): A dictionary with signal:value pairs to encode and write on the bus.
        period (float): The time in seconds (s) to wait between sending each message.
        duration (float): The length of time in seconds (s) to continue sending the message for.
        timeoutIn (int): The timeout in seconds for writing the message to 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 no errors occured during execution, False otherwise.
    '''        
    from drivers.automator import AntiCanapeError, BusOverloadError   
    # Create a message and send it
    try:
        # 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)

        # Create a message object with the ID and encoded data (assumed default message flags)
        # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
        messageOutbound = Message(arbitration_id=IDIn, data=encodedData)

        # Create the periodic task
        # [https://python-can.readthedocs.io/en/master/bcm.html]
        task = self.bus.send_periodic(msgs=messageOutbound, period=period, duration=duration, timeout=timeoutIn)
        assert isinstance(task, CyclicSendTaskABC)
        sleep(duration)

    ##############################
    # 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 true indicating no errors were given
    return True

`constantCanWriteRawOnID(IDIn, bytes, period, duration, timeoutIn=None)`

This method provides efficient access to the CAN bus for continually writing a CAN message for an extended period of time. It keeps one instance open for the bus and writer, nulling the need to open a new instance connection for each message. It operates on a backend thread managed by python-can, but the bus has been internalized to be thread-safe, allowing several cross threads to operate concurrently on the bus.

It will continue sending a CAN Message on the instance bus with given ID and bytes payload every period (s) for time duration (s).

Note: If no duration time is specified, it defaults to None, which continues indefinitely. In this case, the thread will need to be closed, or program execution halted with Keyboard Interrupt (CTRL + C).

Parameters:

Name	Type	Description	Default
`IDIn`	`int`	The ID of the CAN Message to write on the bus.	required
`bytes`	`str, bytearray, or list of str`	The Message payload, in raw bytes. Can be given as a string, bytearray, or list of strings (where each list element is a bit of a bytearray).	required
`period`	`float`	The time in seconds (s) to wait between sending each message.	required
`duration`	`float`	The length of time in seconds (s) to continue sending the message for.	required
`timeoutIn`	`int`	The timeout in seconds for writing the message to 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 no errors occured during execution, False otherwise.

Source code in drivers\writers.py

def constantCanWriteRawOnID(self, IDIn:int, bytes:Union[str, bytearray, list], period:float, duration:float, timeoutIn:int=None) -> bool:
    ''' This method provides efficient access to the CAN bus for continually writing a CAN message for an extended period of time. It keeps one instance open for the bus and writer, nulling the need to open a new instance connection for each message. It operates on a backend thread managed by python-can, but the bus has been internalized to be thread-safe, allowing several cross threads to operate concurrently on the bus. 

    It will continue sending a CAN Message on the instance bus with given ID and bytes payload every period (s) for time duration (s).

    Note: If no duration time is specified, it defaults to None, which continues indefinitely. In this case, the thread will need to be closed, or program execution halted with Keyboard Interrupt (CTRL + C).

    Args:
        IDIn (int): The ID of the CAN Message to write on the bus.
        bytes (str, bytearray, or list of str): The Message payload, in raw bytes. Can be given as a string, bytearray, or list of strings (where each list element is a bit of a bytearray).
        period (float): The time in seconds (s) to wait between sending each message.
        duration (float): The length of time in seconds (s) to continue sending the message for.
        timeoutIn (int): The timeout in seconds for writing the message to 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 no errors occured during execution, False otherwise.
    ''' 
    from drivers.automator import AntiCanapeError, BusOverloadError 
    # Create a message and send it
    try:
        # If data input is given as bytearray
        # [https://docs.python.org/3/library/stdtypes.html#bytearray]
        if isinstance(bytes, bytearray):
            # Create a message object with the ID and byte array
            # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
            messageOutbound = Message(arbitration_id=IDIn, data=bytes, is_extended_id=False)

        # If data input is given as string
        # [https://docs.python.org/3/library/stdtypes.html#bytearray.fromhex]
        elif isinstance(bytes, str):
            # Create a message object with the ID and string
            # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
            stringAsByteArray = bytearray.fromhex(bytes)
            messageOutbound = Message(arbitration_id=IDIn, data=stringAsByteArray, is_extended_id=False)

        # If data input is given as list
        # [https://www.dotnetperls.com/bytes-python]
        elif isinstance(bytes, list):
            # If list is composed of integers
            if isinstance(bytes[0], int):
                # Create a message object with the ID and list
                # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                listAsByteArray = bytearray(bytes)
                messageOutbound = Message(arbitration_id=IDIn, data=listAsByteArray, is_extended_id=False)

            # If list is composed of strings
            elif isinstance(bytes[0], str):
                # Create a message object with the ID and list
                # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                listAsString = ' '.join(bytes)
                listAsStringAsByteArray = bytearray.fromhex(listAsString)
                messageOutbound = Message(arbitration_id=IDIn, data=listAsStringAsByteArray, is_extended_id=False)

            #If list is composed of NEITHER int NOR str
            else:
                print("CC Anti-Canape: Got an incorrect format for the input of bytes!")
                raise CanError(message="")

        else:
            print("CC Anti-Canape: Got an incorrect format for the input of bytes!")
            raise CanError(message="")

        # Create the periodic task
        # [https://python-can.readthedocs.io/en/master/bcm.html]
        task = self.bus.send_periodic(msgs=messageOutbound, period=period, duration=duration, timeout=timeoutIn)
        assert isinstance(task, CyclicSendTaskABC)
        sleep(duration)

    ##############################
    # 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 true indicating no errors were given
    return True

`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() and constantSdoWrite() to lookup a hex index for a given SDO parameter name.

Parameters:

Name	Type	Description	Default
`dotParser`	`dotParse Object`	A dotParse() object to be used for looking up hex ID's and parameter names.	required

Returns:

Name	Type	Description
`bool`		True if no errors occured during execution, False otherwise.

Source code in drivers\writers.py

def loadDotParser(self, dotParser:object):
    ''' 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() and constantSdoWrite() to lookup a hex index for a given SDO parameter name.

    Args:
        dotParser (dotParse Object): A dotParse() object to be used for looking up hex ID's and parameter names.

    Returns:
        bool: True if no errors occured during execution, False otherwise.
    '''     
    self.dotParser = dotParser
    return True

`singleCanWriteOnID(IDIn, signalDictIn, timeoutIn=None)`

This method encodes an ID and signal dictionary into a CAN Message Object and sends it on the instance CAN bus.

Parameters:

Name	Type	Description	Default
`IDIn`	`int`	The ID of the Message to send.	required
`signalDictIn`	`dict`	A dictionary of signal:value pairs to write.	required
`timeoutIn`	`int`	The timeout in seconds for writing the message to 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 no errors occured during execution, False otherwise.

Source code in drivers\writers.py

def singleCanWriteOnID(self, IDIn:int, signalDictIn:dict, timeoutIn:int=None) -> bool:     
    ''' This method encodes an ID and signal dictionary into a CAN Message Object and sends it on the instance CAN bus.

    Args:
        IDIn (int): The ID of the Message to send.
        signalDictIn (dict): A dictionary of signal:value pairs to write.
        timeoutIn (int): The timeout in seconds for writing the message to 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 no errors occured during execution, False otherwise.
    '''    
    from drivers.automator import AntiCanapeError, BusOverloadError    
    # Create a message and send it
    try:
        # 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)

        # Create a message object with the ID and encoded data (assumed default message flags)
        # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
        messageOutbound = Message(arbitration_id=IDIn, data=encodedData, is_extended_id=False)

        #Send the message on the bus
        # [https://python-can.readthedocs.io/en/stable/bus.html#can.Bus.send]
        self.bus.send(msg=messageOutbound, timeout=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
    # Return true indicating no errors were given
    return True

`singleCanWriteRawOnID(IDIn, bytes, timeoutIn=None)`

This method encodes an ID and raw byte array into a CAN Message Object and sends it on the instance CAN bus.

Parameters:

Name	Type	Description	Default
`IDIn`	`int`	The ID of the Message to send.	required
`bytes`	`str, bytearray, or list of strings`	The Message payload, in raw bytes. Can be given as a string, bytearray, or list of strings (where each list element is a byte of a bytearray).	required
`timeoutIn`	`int`	The timeout in seconds for writing the message to the bus. Defaults to None. If None, thread continues indefinitely.	`None`

Raises:

Type	Description
`CanError`	Occurs when there is an error while attempting to communicate via CAN.
`AntiCanapeError`	Custom Exception that allows for general exception handling and debugging information.

Returns:

Name	Type	Description
`bool`	`bool`	True if no errors occured during execution, False otherwise.

Source code in drivers\writers.py

def singleCanWriteRawOnID(self, IDIn:int, bytes:Union[str, bytearray, list], timeoutIn:int=None) -> bool:
    '''This method encodes an ID and raw byte array into a CAN Message Object and sends it on the instance CAN bus.

    Args:
        IDIn (int): The ID of the Message to send.
        bytes (str, bytearray, or list of strings): The Message payload, in raw bytes. Can be given as a string, bytearray, or list of strings (where each list element is a byte of a bytearray).
        timeoutIn (int): The timeout in seconds for writing the message to the bus. Defaults to None. If None, thread continues indefinitely.

    Raises:
        CanError: Occurs when there is an error while attempting to communicate via CAN.
        AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

    Returns:
        bool: True if no errors occured during execution, False otherwise.
    '''        
    from drivers.automator import AntiCanapeError, BusOverloadError 
    # Create a message and send it
    try:
        # If data input is given as bytearray
        # [https://docs.python.org/3/library/stdtypes.html#bytearray]
        if isinstance(bytes, bytearray):
            # Create a message object with the ID and byte array
            # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
            messageOutbound = Message(arbitration_id=IDIn, data=bytes, is_extended_id=False)

        # If data input is given as string
        # [https://docs.python.org/3/library/stdtypes.html#bytearray.fromhex]
        elif isinstance(bytes, str):
            # Create a message object with the ID and string
            # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
            stringAsByteArray = bytearray.fromhex(bytes)
            messageOutbound = Message(arbitration_id=IDIn, data=stringAsByteArray, is_extended_id=False)

        # If data input is given as list
        # [https://www.dotnetperls.com/bytes-python]
        elif isinstance(bytes, list):
            # If list is composed of integers
            if isinstance(bytes[0], int):
                # Create a message object with the ID and list
                # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                listAsByteArray = bytearray(bytes)
                messageOutbound = Message(arbitration_id=IDIn, data=listAsByteArray, is_extended_id=False)

            # If list is composed of strings
            elif isinstance(bytes[0], str):
                # Create a message object with the ID and list
                # [https://python-can.readthedocs.io/en/stable/message.html#module-can]
                listAsString = ' '.join(bytes)
                listAsStringAsByteArray = bytearray.fromhex(listAsString)
                messageOutbound = Message(arbitration_id=IDIn, data=listAsStringAsByteArray, is_extended_id=False)

            #If list is composed of NEITHER int NOR str
            else:
                print("CC Anti-Canape: Got an incorrect format for the input of bytes!")
                raise CanError(message="CC Anti-Canape: Got an incorrect format for the input of bytes!")

        else:
            print("CC Anti-Canape: Got an incorrect format for the input of bytes!")
            raise CanError(message="CC Anti-Canape: Got an incorrect format for the input of bytes!")

        #Send the message on the bus
        # [https://python-can.readthedocs.io/en/stable/bus.html#can.Bus.send]
        self.bus.send(msg=messageOutbound, timeout=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

    # Return true indicating no errors were given
    return True

`singleSdoWrite(mainId, payloadIn, subId='00', timeoutIn=None)`

This method is designed to write a single SDO message on the CANBUS.

Parameters:

Name	Type	Description	Default
`mainId`	`str or int`	The SDO Index (ID) to write to. It can either be a hex index starting with '0x', a decimal index only consisting of integers, or the parameter name itself as a string.	required
`payloadIn`	`int`	The payload to send off in decimal representation. Can represent 0-8 bits when converted to hex.	required
`subId`	`str`	The SDO Sub-Index(Sub-ID) to write to. It must be in hex. Defaults to "00".	`'00'`
`timeoutIn`	`int`	The timeout in seconds for writing the message to the bus. Defaults to None. If None, thread continues indefinitely.	`None`

Raises:

Type	Description
`AntiCanapeError`	If the payload is not 0-8 bytes, then an exception is thrown.
`AntiCanapeError`	Custom Exception that allows for general exception handling and debugging information.

Returns:

Name	Type	Description
`bool`	`bool`	True if no errors occured during execution, False otherwise.

Source code in drivers\writers.py

def singleSdoWrite(self, mainId:Union[str, int], payloadIn:int, subId:str="00", timeoutIn:int=None) -> bool:
    ''' This method is designed to write a single SDO message on the CANBUS.

    Args:
        mainId (str or int): The SDO Index (ID) to write to. It can either be a hex index starting with '0x', a decimal index only consisting of integers, or the parameter name itself as a string.
        payloadIn (int): The payload to send off in decimal representation. Can represent 0-8 bits when converted to hex. 
        subId (str): The SDO Sub-Index(Sub-ID) to write to. It must be in hex. Defaults to "00".
        timeoutIn (int): The timeout in seconds for writing the message to the bus. Defaults to None. If None, thread continues indefinitely.

    Raises:
        AntiCanapeError: If the payload is not 0-8 bytes, then an exception is thrown.
        AntiCanapeError: Custom Exception that allows for general exception handling and debugging information.

    Returns:
        bool: True if no errors occured during execution, False otherwise.
    '''     
    from drivers.automator import AntiCanapeError, BusOverloadError   

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

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

        # Initialize a hexPayload for conversion and finalPayload for post-conversion
        # Chop off '0x' from front of hex string
        hexPayload = hex(int(payloadIn))[2:]
        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 += "23"

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

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

        # Check the size of payloadIn and make proper bytestring
        if (len(hexPayload) == 0):
            finalPayload += "00000000"
        elif (len(hexPayload) == 1):
            finalPayload += "0" + hexPayload[0] + "000000"
        elif (len(hexPayload) == 2):
            finalPayload += hexPayload[0] + hexPayload[1] + "000000"
        elif (len(hexPayload) == 3):
            finalPayload += hexPayload[1] + hexPayload[2] + "0" + hexPayload[0] + "0000"
        elif (len(hexPayload) == 4):
            finalPayload += hexPayload[2] + hexPayload[3] + hexPayload[0] + hexPayload[1] + "0000"
        elif (len(hexPayload) == 5):
            finalPayload += hexPayload[3] + hexPayload[4] + hexPayload[1] + hexPayload[2] + "0" + hexPayload[0] + "00"
        elif (len(hexPayload) == 6):
            finalPayload += hexPayload[4] + hexPayload[5] + hexPayload[2] + hexPayload[3] + hexPayload[0] + hexPayload[1] + "00"
        elif (len(hexPayload) == 7):
            finalPayload += hexPayload[5] + hexPayload[6] + hexPayload[3] + hexPayload[4] + hexPayload[1] + hexPayload[2] + "0" + hexPayload[0]
        elif (len(hexPayload) == 8):
            finalPayload += hexPayload[6] + hexPayload[7] + hexPayload[4] + hexPayload[5] + hexPayload[2] + hexPayload[3] + hexPayload[0] + hexPayload[1]

        # If the input payload was not 0-8 bits, raise exception 
        else:
            raise AntiCanapeError("CC Anti-Canape: Payload must be between 0 and 8 bits!")

        # Send the message
        return(self.singleCanWriteRawOnID(IDIn=1589, bytes=finalPayload, 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

Writer

ACWriter

__init__(busIn)

constantCanWriteOnID(IDIn, signalDictIn, period, duration, timeoutIn=None)

constantCanWriteRawOnID(IDIn, bytes, period, duration, timeoutIn=None)

loadDotParser(dotParser)

singleCanWriteOnID(IDIn, signalDictIn, timeoutIn=None)

singleCanWriteRawOnID(IDIn, bytes, timeoutIn=None)

singleSdoWrite(mainId, payloadIn, subId='00', timeoutIn=None)

`ACWriter`

`init(busIn)`

`constantCanWriteOnID(IDIn, signalDictIn, period, duration, timeoutIn=None)`

`constantCanWriteRawOnID(IDIn, bytes, period, duration, timeoutIn=None)`

`loadDotParser(dotParser)`

`singleCanWriteOnID(IDIn, signalDictIn, timeoutIn=None)`

`singleCanWriteRawOnID(IDIn, bytes, timeoutIn=None)`

`singleSdoWrite(mainId, payloadIn, subId='00', timeoutIn=None)`