16. cc_vector_can

16.1. CAN Communication Channel using Vector hardware

module

cc_vector_can

synopsis

CChannel implementation for CAN(fd) using Vector API from python-can

class pykiso.lib.connectors.cc_vector_can.CCVectorCan(bustype='vector', poll_interval=0.01, rx_queue_size=524288, serial=None, channel=3, bitrate=500000, data_bitrate=2000000, fd=True, enable_brs=False, app_name=None, can_filters=None, is_extended_id=False, **kwargs)[source]

CAN FD channel-adapter.

Initialize can channel settings.

Parameters

  • bustype (str) – python-can interface modules used

  • poll_interval (float) – Poll interval in seconds.

  • rx_queue_size (int) – Number of messages in receive queue

  • serial (Optional[int]) – Vector Box’s serial number. Can be replaced by the “AUTO” flag to trigger the Vector Box automatic detection.

  • channel (int) – The channel indexes to create this bus with

  • bitrate (int) – Bitrate in bits/s.

  • app_name (Optional[str]) – Name of application in Hardware Config. If set to None, the channel should be a global channel index.

  • data_bitrate (int) – Which bitrate to use for data phase in CAN FD.

  • fd (bool) – If CAN-FD frames should be supported.

  • enable_brs (bool) – sets the bitrate_switch flag to use higher transmission speed

  • can_filters (Optional[list]) – A iterable of dictionaries each containing a “can_id”, a “can_mask”, and an optional “extended” key.

  • is_extended_id (bool) – This flag controls the size of the arbitration_id field.

_cc_close()[source]

Close the current can bus channel.

Return type

None

_cc_open()[source]

Open a can bus channel and set filters for reception.

Return type

None

_cc_receive(timeout=0.0001, raw=False)[source]

Receive a can message using configured filters.

If raw parameter is set to True return received message as it is (bytes) otherwise test entity protocol format is used and Message class type is returned.

Parameters

  • timeout – timeout applied on reception

  • raw (bool) – boolean use to select test entity protocol format

Return type

Dict[str, Union[Message, bytes, int]]

Returns

the received data and the source can id

_cc_send(msg, raw=False, **kwargs)[source]

Send a CAN message at the configured id.

If remote_id parameter is not given take configured ones, in addition if raw is set to True take the msg parameter as it is otherwise parse it using test entity protocol format.

Parameters

  • msg – data to send

  • raw (bool) – boolean use to select test entity protocol format

  • kwargs – destination can id used

Return type

None

pykiso.lib.connectors.cc_vector_can.detect_serial_number()[source]

Provide the serial number of the currently available Vector Box to be used.

If several Vector Boxes are detected, the one with the lowest serial number is selected. If no Vector Box is connected, a ConnectionRefused error is thrown.

Return type

int

Returns

the Vector Box serial number

Raises

ConnectionRefusedError – raised if no Vector box is currently available