133 lines
5.3 KiB
Python
133 lines
5.3 KiB
Python
"""
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Tan mingyan
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2026/3/9
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CAN 驱动示例（bus_can.py）—— 补充参考
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"""
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# midware/drivers/bus_can.py
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from .base_driver import BaseBusDriver
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from typing import Optional, Dict, Any
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from loguru import logger
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import time
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from midware.config.base_config import get_device_config
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from .base_driver import BaseBusDriver
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from .renode_agent import renode
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from midware.config.base_config import DEVICE_CONFIG_DICT
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class BusCANDriver(BaseBusDriver):
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"""CAN总线驱动实现（适配CANoe/CANalyzer/USB-CAN）"""
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def _init_config(self):
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self.config.setdefault("channel", 0) # CAN通道
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self.config.setdefault("baudrate", 500000) # 500kbps
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self.config.setdefault("frame_format", "standard") # 标准帧/扩展帧
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logger.info(f"CAN驱动配置初始化完成：{self.config}")
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def connect(self) -> bool:
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try:
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# 实际逻辑：打开CAN通道
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time.sleep(0.05)
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self.is_connected = True
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logger.info("CAN总线连接成功")
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return True
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except Exception as e:
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logger.error(f"CAN总线连接失败：{str(e)}")
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return False
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def disconnect(self) -> bool:
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try:
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self.is_connected = False
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logger.info("CAN总线断开成功")
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return True
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except Exception as e:
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logger.error(f"CAN总线断开失败：{str(e)}")
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return False
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def send(self, data: bytes, **kwargs) -> bool:
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if not self.is_connected:
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logger.error("CAN驱动未连接，发送失败")
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return False
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# ========== 核心步骤1：从kwargs提取设备名称 ==========
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dev_name = kwargs.get("dev_name")#2026/4/10
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if not dev_name:
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logger.error("CAN发送失败：kwargs中未传入dev_name（设备名称）")
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return False
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device_config = get_device_config().get(dev_name)
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if not device_config:
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logger.error(f"CAN发送失败：设备 {dev_name} 未在DEVICE_CONFIG_DICT中配置")
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return False
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try:
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frame_id = kwargs.get("frame_id", 0x123) # CAN帧ID
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is_extended = kwargs.get("is_extended", False) # 是否扩展帧
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logger.info(
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f"CAN发送数据｜帧ID：0x{frame_id:X}｜扩展帧：{is_extended}｜"
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f"数据：{data.hex()}｜长度：{len(data)}字节"
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)
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# logger.info(
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# #f"UART发送数据｜帧ID：0x{frame_id:X}｜扩展帧：{is_extended}｜"
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# f"CAN发送数据：{data.hex()}｜长度：{len(data)}字节"
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# )
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## 外设名称+函数名+字符串参数 uart24 WriteRXFIFODataString "0xEB9000C571000827C00000BC1003190000106C02AC020101FF5716"'
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## 收到的CAN帧可能是多帧连在一起，需要拆分单帧保证虚拟平台能读取。
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frame_len = 11
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frame_list = []
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total =len(data)
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#步长11字节截取完整帧,不满足的丢弃(尾帧长度可以不满11，不丢弃)
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end = 0
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for start in range(0,total, frame_len):
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'''
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if end>total:
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break
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end = start + frame_len
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frame_list.append(data[start:end])
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sysbus_cmd = f'{dev_name} SendRxBufferDataString "0x{data[start:end].hex()}"'
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#print(sysbus_cmd)
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logger.info(f"CAN发送指令：{sysbus_cmd}")
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response = renode.send_sync(sysbus_cmd)#2026/4/10
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time.sleep(0.0001)
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'''
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#计算当前帧结束的位置
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end = min(start + frame_len, total)
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frame = data[start:end]
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#尾帧长度不足11时，补0到11字节
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if len(frame)<frame_len:
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#补0
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frame = frame.ljust(frame_len, b'\x00')
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frame_list.append(frame)
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sysbus_cmd = f'{dev_name} SendRxBufferDataString "0x{frame.hex()}"'
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logger.info(f"CAN发送指令：{sysbus_cmd}")
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response = renode.send_sync(sysbus_cmd,timeout_ms=2)#2026/4/10
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# response = renode.enqueue_cmd(sysbus_cmd)#2026/6/4
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time.sleep(0.0001)
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#sysbus_cmd = f'{dev_name} SendRxBufferDataString "0x{data.hex()}"'
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#print(sysbus_cmd)
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#logger.info(f"CAN发送指令：{sysbus_cmd}")
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#response = renode.send_sync(sysbus_cmd)#2026/4/10
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# 实际逻辑：调用CAN驱动发送接口
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return True
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except Exception as e:
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logger.error(f"CAN数据发送失败：{str(e)}")
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return False
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def recv(self, timeout: float = 0.1, **kwargs) -> Optional[bytes]:
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if not self.is_connected:
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logger.error("CAN驱动未连接，接收失败")
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return None
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try:
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# 模拟接收
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time.sleep(0.001)
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# mock_data = b"\x11\x22\x33\x44"
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# logger.debug(f"CAN接收数据：{mock_data.hex()}")
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# return mock_data
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return None
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except Exception as e:
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logger.error(f"CAN数据接收失败：{str(e)}")
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return None |