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###########################################################
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###########################################################
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#
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#
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# This class represents a can packet which should be
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# This class represents a can packet which should be
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# identifiable by its type and contents
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# identifiable by its type and contents
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#
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#
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###########################################################
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###########################################################
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class CanPkt:
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class CanPkt:
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    STANDARD_ID_MASK = 0x1FF
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    STANDARD_ID_MASK = 0x1FF
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    EXTENDED_ID_MASK = 0x1FFFFFFF
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    EXTENDED_ID_MASK = 0x1FFFFFFF
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    DATA_MASK = 0xFF
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    DATA_MASK = 0xFF
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    DATA_LENGTH = 8
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    DATA_LENGTH = 8
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    nodeId = 0
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    nodeId = 0
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    extended = True
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    extended = True
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    remote = False
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    remote = False
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    data = []
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    data = []
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    def __init__( self, id, data, extended = True, remote = False ):
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    def __init__( self, id, data, extended = True, remote = False ):
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        if extended:
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        if extended:
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            self.nodeId = id & self.EXTENDED_ID_MASK
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            self.nodeId = id & self.EXTENDED_ID_MASK
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        else:
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        else:
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            self.nodeId = id & self.STANDARD_ID_MASK
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            self.nodeId = id & self.STANDARD_ID_MASK
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        self.data = [val & self.DATA_MASK for val in data[:self.DATA_LENGTH]]
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        self.data = [val & self.DATA_MASK for val in data[:self.DATA_LENGTH]]
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        self.extended = extended
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        self.extended = extended
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        self.remote = remote
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        self.remote = remote
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    def toString(self):
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    def toString(self):
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        strpkt = 'PKT ' + hex(self.nodeId)[2:] # '0x' is cut from can2serial link
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        strpkt = 'PKT ' + '%08X' % self.nodeId
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        if self.extended:
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        if self.extended:
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            strpkt += ' 1'
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            strpkt += ' 1'
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        else:
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        else:
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            strpkt += ' 0'
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            strpkt += ' 0'
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        if self.remote:
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        if self.remote:
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            strpkt += ' 1'
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            strpkt += ' 1'
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        else:
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        else:
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            strpkt += ' 0'
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            strpkt += ' 0'
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        bytestrings = ''
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        bytestrings = ''
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        for byte in self.data:
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        for byte in self.data:
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            bytestrings = bytestrings + ' ' + str(byte)
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            bytestrings = bytestrings + ' %02x' % byte
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        return (strpkt + bytestrings)
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        return (strpkt + bytestrings)
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    @staticmethod
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    @staticmethod
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    def stringToCanPkt(self, str):
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    def stringToCanPkt(self, str):
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        """ Converts can message string to CanPkt class """
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        """ Converts can message string to CanPkt class """
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        strbyteslist = str.split(' ')
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        strbyteslist = str.split(' ')
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        nodeid = int('0x'+strbyteslist[1], 16)
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        nodeid = int('0x'+strbyteslist[1], 16)
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        intvalues = [int(val, 10) for val in strbyteslist[2:]]
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        intvalues = [int(val, 16) for val in strbyteslist[2:]]
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        extended = (intvalues[0] == 1)
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        extended = (intvalues[0] == 1)
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        remote = (intvalues[1] == 1)
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        remote = (intvalues[1] == 1)
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        pkt = CanPkt(nodeid, intvalues[2:], extended, remote)
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        pkt = CanPkt(nodeid, intvalues[2:], extended, remote)
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        return pkt
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        return pkt
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