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Merged
merged 2 commits into from
Jan 12, 2023
Merged

Vector: Check sample point instead of tseg & sjw #1486

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92a729f
check sample point instead of tseg & sjw
zariiii9003 Jan 12, 2023
50e1bb5
improve error message
zariiii9003 Jan 12, 2023
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310 changes: 194 additions & 116 deletions can/interfaces/vector/canlib.py
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Original file line number Diff line number Diff line change
Expand Up @@ -148,7 +148,8 @@ def __init__(
If the bus could not be set up.
This may or may not be a :class:`~can.interfaces.vector.VectorInitializationError`.
"""
if os.name != "nt" and not kwargs.get("_testing", False):
self.__testing = kwargs.get("_testing", False)
if os.name != "nt" and not self.__testing:
raise CanInterfaceNotImplementedError(
f"The Vector interface is only supported on Windows, "
f'but you are running "{os.name}"'
Expand Down Expand Up @@ -232,66 +233,20 @@ def __init__(

# set CAN settings
for channel in self.channels:
if self._has_init_access(channel):
if fd:
self._set_bitrate_canfd(
channel=channel,
bitrate=bitrate,
data_bitrate=data_bitrate,
sjw_abr=sjw_abr,
tseg1_abr=tseg1_abr,
tseg2_abr=tseg2_abr,
sjw_dbr=sjw_dbr,
tseg1_dbr=tseg1_dbr,
tseg2_dbr=tseg2_dbr,
)
elif bitrate:
self._set_bitrate_can(channel=channel, bitrate=bitrate)

# Check CAN settings
for channel in self.channels:
if kwargs.get("_testing", False):
# avoid check if xldriver is mocked for testing
break

bus_params = self._read_bus_params(channel)
if fd:
_canfd = bus_params.canfd
if not all(
[
bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN,
_canfd.can_op_mode
& xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD,
_canfd.bitrate == bitrate if bitrate else True,
_canfd.sjw_abr == sjw_abr if bitrate else True,
_canfd.tseg1_abr == tseg1_abr if bitrate else True,
_canfd.tseg2_abr == tseg2_abr if bitrate else True,
_canfd.data_bitrate == data_bitrate if data_bitrate else True,
_canfd.sjw_dbr == sjw_dbr if data_bitrate else True,
_canfd.tseg1_dbr == tseg1_dbr if data_bitrate else True,
_canfd.tseg2_dbr == tseg2_dbr if data_bitrate else True,
]
):
raise CanInitializationError(
f"The requested CAN FD settings could not be set for channel {channel}. "
f"Another application might have set incompatible settings. "
f"These are the currently active settings: {_canfd._asdict()}"
)
else:
_can = bus_params.can
if not all(
[
bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN,
_can.can_op_mode
& xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20,
_can.bitrate == bitrate if bitrate else True,
]
):
raise CanInitializationError(
f"The requested CAN settings could not be set for channel {channel}. "
f"Another application might have set incompatible settings. "
f"These are the currently active settings: {_can._asdict()}"
)
self._set_bitrate_canfd(
channel=channel,
bitrate=bitrate,
data_bitrate=data_bitrate,
sjw_abr=sjw_abr,
tseg1_abr=tseg1_abr,
tseg2_abr=tseg2_abr,
sjw_dbr=sjw_dbr,
tseg1_dbr=tseg1_dbr,
tseg2_dbr=tseg2_dbr,
)
elif bitrate:
self._set_bitrate_can(channel=channel, bitrate=bitrate)

# Enable/disable TX receipts
tx_receipts = 1 if receive_own_messages else 0
Expand Down Expand Up @@ -422,32 +377,85 @@ def _set_bitrate_can(
)

# set parameters if channel has init access
if any(kwargs):
chip_params = xlclass.XLchipParams()
chip_params.bitRate = bitrate
chip_params.sjw = sjw
chip_params.tseg1 = tseg1
chip_params.tseg2 = tseg2
chip_params.sam = sam
self.xldriver.xlCanSetChannelParams(
self.port_handle,
self.channel_masks[channel],
chip_params,
if self._has_init_access(channel):
if any(kwargs):
chip_params = xlclass.XLchipParams()
chip_params.bitRate = bitrate
chip_params.sjw = sjw
chip_params.tseg1 = tseg1
chip_params.tseg2 = tseg2
chip_params.sam = sam
self.xldriver.xlCanSetChannelParams(
self.port_handle,
self.channel_masks[channel],
chip_params,
)
LOG.info(
"xlCanSetChannelParams: baudr.=%u, sjwAbr=%u, tseg1Abr=%u, tseg2Abr=%u",
chip_params.bitRate,
chip_params.sjw,
chip_params.tseg1,
chip_params.tseg2,
)
else:
self.xldriver.xlCanSetChannelBitrate(
self.port_handle,
self.channel_masks[channel],
bitrate,
)
LOG.info("xlCanSetChannelBitrate: baudr.=%u", bitrate)

if self.__testing:
return

# Compare requested CAN settings to active settings
bus_params = self._read_bus_params(channel)
settings_acceptable = True

# check bus type
settings_acceptable &= (
bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN
)

# check CAN operation mode. For CANcaseXL can_op_mode remains 0
if bus_params.can.can_op_mode != 0:
settings_acceptable &= bool(
bus_params.can.can_op_mode
& xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CAN20
)
LOG.info(
"xlCanSetChannelParams: baudr.=%u, sjwAbr=%u, tseg1Abr=%u, tseg2Abr=%u",
chip_params.bitRate,
chip_params.sjw,
chip_params.tseg1,
chip_params.tseg2,

# check bitrate
settings_acceptable &= abs(bus_params.can.bitrate - bitrate) < bitrate / 256

# check sample point
if all(kwargs):
requested_sample_point = (
100
* (1 + tseg1) # type: ignore[operator]
/ (1 + tseg1 + tseg2) # type: ignore[operator]
)
else:
self.xldriver.xlCanSetChannelBitrate(
self.port_handle,
self.channel_masks[channel],
bitrate,
actual_sample_point = (
100
* (1 + bus_params.can.tseg1)
/ (1 + bus_params.can.tseg1 + bus_params.can.tseg2)
)
settings_acceptable &= (
abs(actual_sample_point - requested_sample_point)
< 1.0 # 1 percent threshold
)

if not settings_acceptable:
active_settings = ", ".join(
[
f"{key}: {getattr(val, 'name', val)}" # print int or Enum/Flag name
for key, val in bus_params.can._asdict().items()
]
)
raise CanInitializationError(
f"The requested CAN settings could not be set for channel {channel}. "
f"Another application might have set incompatible settings. "
f"These are the currently active settings: {active_settings}"
)
LOG.info("xlCanSetChannelBitrate: baudr.=%u", bitrate)

def _set_bitrate_canfd(
self,
Expand All @@ -462,42 +470,112 @@ def _set_bitrate_canfd(
tseg2_dbr: int = 3,
) -> None:
# set parameters if channel has init access
canfd_conf = xlclass.XLcanFdConf()
if bitrate:
canfd_conf.arbitrationBitRate = int(bitrate)
else:
canfd_conf.arbitrationBitRate = 500_000
canfd_conf.sjwAbr = int(sjw_abr)
canfd_conf.tseg1Abr = int(tseg1_abr)
canfd_conf.tseg2Abr = int(tseg2_abr)
if data_bitrate:
canfd_conf.dataBitRate = int(data_bitrate)
else:
canfd_conf.dataBitRate = int(canfd_conf.arbitrationBitRate)
canfd_conf.sjwDbr = int(sjw_dbr)
canfd_conf.tseg1Dbr = int(tseg1_dbr)
canfd_conf.tseg2Dbr = int(tseg2_dbr)
self.xldriver.xlCanFdSetConfiguration(
self.port_handle, self.channel_masks[channel], canfd_conf
)
LOG.info(
"xlCanFdSetConfiguration.: ABaudr.=%u, DBaudr.=%u",
canfd_conf.arbitrationBitRate,
canfd_conf.dataBitRate,
)
LOG.info(
"xlCanFdSetConfiguration.: sjwAbr=%u, tseg1Abr=%u, tseg2Abr=%u",
canfd_conf.sjwAbr,
canfd_conf.tseg1Abr,
canfd_conf.tseg2Abr,
if self._has_init_access(channel):
canfd_conf = xlclass.XLcanFdConf()
if bitrate:
canfd_conf.arbitrationBitRate = int(bitrate)
else:
canfd_conf.arbitrationBitRate = 500_000
canfd_conf.sjwAbr = int(sjw_abr)
canfd_conf.tseg1Abr = int(tseg1_abr)
canfd_conf.tseg2Abr = int(tseg2_abr)
if data_bitrate:
canfd_conf.dataBitRate = int(data_bitrate)
else:
canfd_conf.dataBitRate = int(canfd_conf.arbitrationBitRate)
canfd_conf.sjwDbr = int(sjw_dbr)
canfd_conf.tseg1Dbr = int(tseg1_dbr)
canfd_conf.tseg2Dbr = int(tseg2_dbr)
self.xldriver.xlCanFdSetConfiguration(
self.port_handle, self.channel_masks[channel], canfd_conf
)
LOG.info(
"xlCanFdSetConfiguration.: ABaudr.=%u, DBaudr.=%u",
canfd_conf.arbitrationBitRate,
canfd_conf.dataBitRate,
)
LOG.info(
"xlCanFdSetConfiguration.: sjwAbr=%u, tseg1Abr=%u, tseg2Abr=%u",
canfd_conf.sjwAbr,
canfd_conf.tseg1Abr,
canfd_conf.tseg2Abr,
)
LOG.info(
"xlCanFdSetConfiguration.: sjwDbr=%u, tseg1Dbr=%u, tseg2Dbr=%u",
canfd_conf.sjwDbr,
canfd_conf.tseg1Dbr,
canfd_conf.tseg2Dbr,
)

if self.__testing:
return

# Compare requested CAN settings to active settings
bus_params = self._read_bus_params(channel)
settings_acceptable = True

# check bus type
settings_acceptable &= (
bus_params.bus_type is xldefine.XL_BusTypes.XL_BUS_TYPE_CAN
)
LOG.info(
"xlCanFdSetConfiguration.: sjwDbr=%u, tseg1Dbr=%u, tseg2Dbr=%u",
canfd_conf.sjwDbr,
canfd_conf.tseg1Dbr,
canfd_conf.tseg2Dbr,

# check CAN operation mode
settings_acceptable &= bool(
bus_params.canfd.can_op_mode
& xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD
)

# check bitrates
if bitrate:
settings_acceptable &= (
abs(bus_params.canfd.bitrate - bitrate) < bitrate / 256
)
if data_bitrate:
settings_acceptable &= (
abs(bus_params.canfd.data_bitrate - data_bitrate) < data_bitrate / 256
)

# check sample points
if bitrate:
requested_nom_sample_point = (
100 * (1 + tseg1_abr) / (1 + tseg1_abr + tseg2_abr)
)
actual_nom_sample_point = (
100
* (1 + bus_params.canfd.tseg1_abr)
/ (1 + bus_params.canfd.tseg1_abr + bus_params.canfd.tseg2_abr)
)
settings_acceptable &= (
abs(actual_nom_sample_point - requested_nom_sample_point)
< 1.0 # 1 percent threshold
)
if data_bitrate:
requested_data_sample_point = (
100 * (1 + tseg1_dbr) / (1 + tseg1_dbr + tseg2_dbr)
)
actual_data_sample_point = (
100
* (1 + bus_params.canfd.tseg1_dbr)
/ (1 + bus_params.canfd.tseg1_dbr + bus_params.canfd.tseg2_dbr)
)
settings_acceptable &= (
abs(actual_data_sample_point - requested_data_sample_point)
< 1.0 # 1 percent threshold
)

if not settings_acceptable:
active_settings = ", ".join(
[
f"{key}: {getattr(val, 'name', val)}" # print int or Enum/Flag name
for key, val in bus_params.canfd._asdict().items()
]
)
raise CanInitializationError(
f"The requested CAN FD settings could not be set for channel {channel}. "
f"Another application might have set incompatible settings. "
f"These are the currently active settings: {active_settings}."
)

def _apply_filters(self, filters: Optional[CanFilters]) -> None:
if filters:
# Only up to one filter per ID type allowed
Expand Down
4 changes: 2 additions & 2 deletions test/test_vector.py
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Original file line number Diff line number Diff line change
Expand Up @@ -459,7 +459,7 @@ def test_reset_mocked(mock_xldriver) -> None:


@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
def test_reset_mocked() -> None:
def test_reset() -> None:
bus = canlib.VectorBus(
channel=0, serial=_find_virtual_can_serial(), interface="vector"
)
Expand Down Expand Up @@ -696,7 +696,7 @@ def _find_virtual_can_serial() -> int:
for i in range(xl_driver_config.channelCount):
xl_channel_config: xlclass.XLchannelConfig = xl_driver_config.channel[i]

if xl_channel_config.transceiverName.decode() == "Virtual CAN":
if "Virtual CAN" in xl_channel_config.transceiverName.decode():
return xl_channel_config.serialNumber

raise LookupError("Vector virtual CAN not found")
Expand Down