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#!/usr/bin/env python

"""

This example exercises the periodic sending capabilities.

Expects a vcan0 interface:

python3 -m examples.cyclic

"""

import logging

import time

import can

logging.basicConfig(level=logging.INFO)

def simple_periodic_send(bus):

"""

Sends a message every 20ms with no explicit timeout

Sleeps for 2 seconds then stops the task.

"""

print("Starting to send a message every 200ms for 2s")

msg = can.Message(

arbitration_id=0x123, data=[1, 2, 3, 4, 5, 6], is_extended_id=False

)

task = bus.send_periodic(msg, 0.20)

assert isinstance(task, can.CyclicSendTaskABC)

time.sleep(2)

task.stop()

print("stopped cyclic send")

def limited_periodic_send(bus):

"""Send using LimitedDurationCyclicSendTaskABC."""

print("Starting to send a message every 200ms for 1s")

msg = can.Message(

arbitration_id=0x12345678, data=[0, 0, 0, 0, 0, 0], is_extended_id=True

)

task = bus.send_periodic(msg, 0.20, 1, store_task=False)

if not isinstance(task, can.LimitedDurationCyclicSendTaskABC):

print("This interface doesn't seem to support LimitedDurationCyclicSendTaskABC")

task.stop()

return

time.sleep(2)

print("Cyclic send should have stopped as duration expired")

# Note the (finished) task will still be tracked by the Bus

# unless we pass `store_task=False` to bus.send_periodic

# alternatively calling stop removes the task from the bus

# task.stop()

def test_periodic_send_with_modifying_data(bus):

"""Send using ModifiableCyclicTaskABC."""

print("Starting to send a message every 200ms. Initial data is four consecutive 1s")

msg = can.Message(arbitration_id=0x0CF02200, data=[1, 1, 1, 1])

task = bus.send_periodic(msg, 0.20)

if not isinstance(task, can.ModifiableCyclicTaskABC):

print("This interface doesn't seem to support modification")

task.stop()

return

time.sleep(2)

print("Changing data of running task to begin with 99")

msg.data[0] = 0x99

task.modify_data(msg)

time.sleep(2)

task.stop()

print("stopped cyclic send")

print("Changing data of stopped task to single ff byte")

msg.data = bytearray([0xFF])

msg.dlc = 1

task.modify_data(msg)

time.sleep(1)

print("starting again")

task.start()

time.sleep(1)

task.stop()

print("done")

# Will have to consider how to expose items like this. The socketcan

# interfaces will continue to support it... but the top level api won't.

# def test_dual_rate_periodic_send():

# """Send a message 10 times at 1ms intervals, then continue to send every 500ms"""

# msg = can.Message(arbitration_id=0x123, data=[0, 1, 2, 3, 4, 5])

# print("Creating cyclic task to send message 10 times at 1ms, then every 500ms")

# task = can.interface.MultiRateCyclicSendTask('vcan0', msg, 10, 0.001, 0.50)

# time.sleep(2)

#

# print("Changing data[0] = 0x42")

# msg.data[0] = 0x42

# task.modify_data(msg)

# time.sleep(2)

#

# task.stop()

# print("stopped cyclic send")

#

# time.sleep(2)

#

# task.start()

# print("starting again")

# time.sleep(2)

# task.stop()

# print("done")

def main():

"""Test different cyclic sending tasks."""

reset_msg = can.Message(

arbitration_id=0x00, data=[0, 0, 0, 0, 0, 0], is_extended_id=False

)

# this uses the default configuration (for example from environment variables, or a

# config file) see https://python-can.readthedocs.io/en/stable/configuration.html

with can.Bus() as bus:

bus.send(reset_msg)

simple_periodic_send(bus)

bus.send(reset_msg)

limited_periodic_send(bus)

test_periodic_send_with_modifying_data(bus)

# print("Carrying out multirate cyclic test for {} interface".format(interface))

# can.rc['interface'] = interface

# test_dual_rate_periodic_send()

time.sleep(2)

if __name__ == "__main__":

main()