#!/usr/bin/python3 # Copyright Amazon.com, Inc. or its affiliates. All Rights Reserved. # SPDX-License-Identifier: MIT-0 # # Permission is hereby granted, free of charge, to any person obtaining a copy of this # software and associated documentation files (the "Software"), to deal in the Software # without restriction, including without limitation the rights to use, copy, modify, # merge, publish, distribute, sublicense, and/or sell copies of the Software, and to # permit persons to whom the Software is furnished to do so. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, # INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A # PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT # HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION # OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE # SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. import cantools import can import isotp from threading import Thread import time import sys import json from datetime import datetime if __name__ == '__main__': from prompt_toolkit import PromptSession from prompt_toolkit.completion import NestedCompleter from prompt_toolkit.completion import PathCompleter from prompt_toolkit.completion import WordCompleter import argparse class canigen: def __init__(self, interface, output_filename=None, database_filename=None, values_filename=None, obd_config_filename=None): self.__stop = False self.__interface = interface self.__output_file = None if not output_filename is None: self.__output_file = open(output_filename, "w") else: self.__can_bus = can.interface.Bus( self.__interface, bustype='socketcan') self.__sig_names = [] self.__values = {'sig': {}, 'pid': {}, 'dtc': {}} if not database_filename is None: self.__db = cantools.database.load_file(database_filename) for msg in self.__db.messages: for sig in msg.signals: self.__sig_names.append(sig.name) self.__values['sig'][sig.name] = 0.0 if sig.initial is None else sig.initial if not values_filename is None: self.__values = self.__load_json(values_filename) self.__obd_config = {} self.__pid_names = [] self.__dtc_names = [] if not obd_config_filename is None: self.__obd_config = self.__load_json(obd_config_filename) for ecu in self.__obd_config['ecus']: for pid_name in ecu['pids']: self.__pid_names.append(pid_name) if not pid_name in self.__values['pid']: self.__values['pid'][pid_name] = 0.0 for dtc_name in ecu['dtcs']: self.__dtc_names.append(dtc_name) if not dtc_name in self.__values['dtc']: self.__values['dtc'][dtc_name] = 0.0 self.__threads = [] if not database_filename is None: for msg in self.__db.messages: if msg.cycle_time == 0: print( "Warning: Ignoring frame '%s' with zero cycle time" % msg.name) else: thread = Thread(target=self.__sig_thread, args=(msg.name,)) thread.start() self.__threads.append(thread) if not obd_config_filename is None: for ecu in self.__obd_config['ecus']: for rx_id in ecu['rx_ids']: isotp_socket = isotp.socket(timeout=0.5) if ecu['zero_padding']: isotp_socket.set_opts(txpad=0, rxpad=0) isotp_socket.bind(self.__interface, isotp.Address( rxid=int(rx_id, 0), txid=int(ecu['tx_id'], 0))) thread = Thread(target=self.__obd_thread, args=(isotp_socket, ecu)) thread.start() self.__threads.append(thread) def stop(self): self.__stop = True for thread in self.__threads: thread.join() if self.__output_file: self.__output_file.close() def __load_json(self, filename): try: with open(filename, 'r') as fp: return json.load(fp) except: print('error: failed to load '+filename) raise def __save_json(self, filename, data): try: with open(filename, 'w') as fp: return json.dump(data, fp, sort_keys=True, indent=4) except: print('error: failed to save '+filename) def __write_frame(self, msg, data): if msg.is_extended_frame: can_id = '%07X' % msg.frame_id else: can_id = '%03X' % msg.frame_id data_hex = '' for byte in data: data_hex += '%02X' % byte self.__output_file.write('(%f) %s %s#%s\n' % ( datetime.now().timestamp(), self.__interface, can_id, data_hex)) def __sig_thread(self, msg_name): while not self.__stop: msg = self.__db.get_message_by_name(msg_name) vals = {} for sig in msg.signals: if not sig.name in self.__values['sig']: val = self.__values['sig'][sig.name] = 0 else: val = self.__values['sig'][sig.name] vals[sig.name] = 0 if val is None else val data = msg.encode(vals) if not self.__output_file is None: self.__write_frame(msg, data) else: frame = can.Message( is_extended_id=msg.is_extended_frame, arbitration_id=msg.frame_id, data=data) self.__can_bus.send(frame) time.sleep(msg.cycle_time / 1000.0) def __get_supported_pids(self, num_range, ecu): out = [0, 0, 0, 0] for name, data in ecu['pids'].items(): pid_num = int(data['num'], 0) if pid_num >= num_range and pid_num < (num_range + 0x20): i = int((pid_num - num_range - 1) / 8) j = (pid_num - num_range - 1) % 8 out[i] |= 1 << (7 - j) return out def __encode_pid_data(self, num, ecu): for name, data in ecu['pids'].items(): if num == int(data['num'], 0): val = int((self.__values['pid'][name] + data['offset']) * data['scale']) out = [] for i in range(data['size']): out.append((val >> ((data['size'] - i - 1) * 8)) & 0xFF) return out return None def __obd_thread(self, isotp_socket, ecu): while not self.__stop: rx = isotp_socket.recv() if not rx is None: rx = list(rx) #print(ecu['name']+' rx: '+str(rx)) sid = rx.pop(0) tx = [sid | 0x40] if sid == 0x01: # PID while len(rx) > 0: pid_num = rx.pop(0) if (pid_num % 0x20) == 0: # Supported PIDs tx += [pid_num] + \ self.__get_supported_pids(pid_num, ecu) else: data = self.__encode_pid_data(pid_num, ecu) if not data is None: tx += [pid_num] + data elif sid == 0x03: # DTCs num_dtcs = 0 dtc_data = [] for dtc_name in ecu['dtcs']: if self.__values['dtc'][dtc_name]: dtc_num = int(ecu['dtcs'][dtc_name]['num'], 16) dtc_data.append((dtc_num >> 8) & 0xFF) dtc_data.append(dtc_num & 0xFF) num_dtcs += 1 tx += [num_dtcs] + dtc_data else: tx = [0x7F, sid, 0x11] # NRC Service not supported #print(ecu['name']+' tx: '+str(tx)) isotp_socket.send(bytearray(tx)) def get_sig_names(self): return self.__sig_names def get_pid_names(self): return self.__pid_names def get_dtc_names(self): return self.__dtc_names def set_value(self, val_type, name, value): self.__values[val_type][name] = value def set_sig(self, name, value): self.__values['sig'][name] = value def set_pid(self, name, value): self.__values['pid'][name] = value def set_dtc(self, name, value): self.__values['dtc'][name] = value def get_value(self, val_type, name): return self.__values[val_type][name] def get_sig(self, name): return self.__values['sig'][name] def get_pid(self, name): return self.__values['pid'][name] def get_dtc(self, name): return self.__values['dtc'][name] def load_values(self, filename): self.__values = self.__load_json(filename) def save_values(self, filename): self.__save_json(filename, self.__values) if __name__ == '__main__': parser = argparse.ArgumentParser( description='Generates SocketCAN messages interactively according to a DBC file and OBD config') parser.add_argument('-i', '--interface', required=True, help='CAN interface, e.g. vcan0') parser.add_argument('-d', '--database', help='DBC file') parser.add_argument('-f', '--output_filename', help='Output to file in canplayer format') parser.add_argument('-o', '--obd_config', help='OBD config JSON file') parser.add_argument('-v', '--values', help='Values JSON file') args = parser.parse_args() if args.output_filename is None and args.interface is None: print("error: --interface argument is required") exit(1) c = canigen(args.interface, args.output_filename, args.database, args.values, args.obd_config) sig_completer = WordCompleter(c.get_sig_names()) path_completer = PathCompleter() pid_completer = WordCompleter(c.get_pid_names()) dtc_completer = WordCompleter(c.get_dtc_names()) cmd_completion_dict = { 'set': {'sig': sig_completer, 'pid': pid_completer, 'dtc': dtc_completer}, 'get': {'sig': sig_completer, 'pid': pid_completer, 'dtc': dtc_completer}, 'exit': None, 'load': path_completer, 'save': path_completer } cmd_completer = NestedCompleter.from_nested_dict(cmd_completion_dict) def print_help(): print("Usage:") print(" set sig ") print(" get sig ") print(" set pid ") print(" get pid ") print(" set dtc ") print(" get dtc ") print(" load ") print(" save ") session = PromptSession() try: while True: cmd = session.prompt('canigen$ ', completer=cmd_completer).split() try: if len(cmd) == 0: pass elif cmd[0] == 'exit' or cmd[0] == 'quit': break elif cmd[0] == 'set': try: c.set_value(cmd[1], cmd[2], float(cmd[3])) except: print('error: invalid value') elif cmd[0] == 'get': print(c.get_value(cmd[1], cmd[2])) elif cmd[0] == 'load': try: c.load_values(cmd[1]) except: pass elif cmd[0] == 'save': c.save_values(cmd[1]) else: print_help() except: print("error: invalid command") print_help() except KeyboardInterrupt: pass except: print("error: unknown") c.stop()