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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 736 | olof | 1 | ########################################################### |
| 2 | # |
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| 3 | # This class represents a can packet which should be |
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| 4 | # identifiable by its type and contents |
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| 5 | # |
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| 6 | ########################################################### |
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| 7 | |||
| 8 | class CanPkt: |
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| 738 | olof | 9 | |
| 10 | STANDARD_ID_MASK = 0x1FF |
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| 11 | EXTENDED_ID_MASK = 0x1FFFFFFF |
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| 12 | DATA_MASK = 0xFF |
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| 13 | DATA_LENGTH = 8 |
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| 14 | |||
| 15 | nodeId = 0 |
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| 16 | extended = True |
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| 17 | remote = False |
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| 18 | data = [] |
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| 19 | |||
| 20 | def __init__( self, id, data, extended = True, remote = False ): |
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| 21 | if extended: |
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| 22 | self.nodeId = id & self.EXTENDED_ID_MASK |
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| 23 | else: |
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| 24 | self.nodeId = id & self.STANDARD_ID_MASK |
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| 25 | self.data = [val & self.DATA_MASK for val in data[:self.DATA_LENGTH]] |
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| 26 | self.extended = extended |
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| 27 | self.remote = remote |
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| 28 | |||
| 29 | def toString(self): |
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| 746 | olof | 30 | strpkt = 'PKT ' + '%08X' % self.nodeId |
| 738 | olof | 31 | if self.extended: |
| 32 | strpkt += ' 1' |
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| 33 | else: |
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| 34 | strpkt += ' 0' |
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| 35 | if self.remote: |
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| 36 | strpkt += ' 1' |
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| 37 | else: |
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| 38 | strpkt += ' 0' |
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| 39 | bytestrings = '' |
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| 40 | for byte in self.data: |
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| 746 | olof | 41 | bytestrings = bytestrings + ' %02x' % byte |
| 738 | olof | 42 | return (strpkt + bytestrings) |
| 43 | |||
| 44 | @staticmethod |
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| 45 | def stringToCanPkt(self, str): |
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| 46 | """ Converts can message string to CanPkt class """ |
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| 47 | strbyteslist = str.split(' ') |
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| 48 | nodeid = int('0x'+strbyteslist[1], 16) |
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| 746 | olof | 49 | intvalues = [int(val, 16) for val in strbyteslist[2:]] |
| 738 | olof | 50 | extended = (intvalues[0] == 1) |
| 51 | remote = (intvalues[1] == 1) |
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| 52 | pkt = CanPkt(nodeid, intvalues[2:], extended, remote) |
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| 53 | return pkt |
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| 54 | |||
| 55 |