CAN BUS tools.
Project description
About
CAN BUS tools.
CAN message encoding and decoding.
Simple and extended signal multiplexing.
Diagnostic DID encoding and decoding.
candump output decoder.
Node tester.
Project homepage: https://github.com/eerimoq/cantools
Documentation: http://cantools.readthedocs.org/en/latest
Installation
pip install cantools
Example usage
Scripting
The example starts by parsing a small DBC-file and printing its messages and signals.
>>> import cantools
>>> from pprint import pprint
>>> db = cantools.db.load_file('tests/files/motohawk.dbc')
>>> db.messages
[message('ExampleMessage', 0x1f0, False, 8, 'Example message used as template in MotoHawk models.')]
>>> example_message = db.get_message_by_name('ExampleMessage')
>>> pprint(example_message.signals)
[signal('Enable', 7, 1, 'big_endian', False, 1.0, 0, 0.0, 0.0, '-', False, None, {0: 'Disabled', 1: 'Enabled'}, None),
signal('AverageRadius', 6, 6, 'big_endian', False, 0.1, 0, 0.0, 5.0, 'm', False, None, None, ''),
signal('Temperature', 0, 12, 'big_endian', True, 0.01, 250, 229.53, 270.47, 'degK', False, None, None, None)]
The example continues encoding a message and sending it on a CAN bus using the python-can package.
>>> import can
>>> can.rc['interface'] = 'socketcan_ctypes'
>>> can.rc['channel'] = 'vcan0'
>>> can_bus = can.interface.Bus()
>>> data = example_message.encode({'Temperature': 250.1, 'AverageRadius': 3.2, 'Enable': 1})
>>> message = can.Message(arbitration_id=example_message.frame_id, data=data)
>>> can_bus.send(message)
Alternatively, a message can be encoded using the encode_message() method on the database object.
The last part of the example receives and decodes a CAN message.
>>> message = can_bus.recv()
>>> db.decode_message(message.arbitration_id, message.data)
{'AverageRadius': 3.2, 'Enable': 'Enabled', 'Temperature': 250.09}
See examples for additional examples.
Command line tool
Decode CAN frames captured with the Linux program candump.
$ candump vcan0 | cantools decode tests/files/motohawk.dbc
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 ::
ExampleMessage(
Enable: 'Enabled' -,
AverageRadius: 0.0 m,
Temperature: 255.92 degK
)
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 ::
ExampleMessage(
Enable: 'Enabled' -,
AverageRadius: 0.0 m,
Temperature: 255.92 degK
)
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 ::
ExampleMessage(
Enable: 'Enabled' -,
AverageRadius: 0.0 m,
Temperature: 255.92 degK
)
Alternatively, the decoded message can be printed on a single line:
$ candump vcan0 | cantools decode --single-line tests/files/motohawk.dbc
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 :: ExampleMessage(Enable: 'Enabled' -, AverageRadius: 0.0 m, Temperature: 255.92 degK)
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 :: ExampleMessage(Enable: 'Enabled' -, AverageRadius: 0.0 m, Temperature: 255.92 degK)
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 :: ExampleMessage(Enable: 'Enabled' -, AverageRadius: 0.0 m, Temperature: 255.92 degK)
Contributing
Fork the repository.
Install prerequisites.
pip install -r requirements.txt
Implement the new feature or bug fix.
Implement test case(s) to ensure that future changes do not break legacy.
Run the tests.
make test
Create a pull request.
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