python-can库基于PCAN-USB使用方法 python-can库基于PCAN-USB使用方法

一、概述 1.介绍
python-can库为Python提供了控制器局域网的支持，为不同的硬件设备提供了通用的抽象，并提供了一套实用程序，用于在CAN总线上发送和接收消息。
支持硬件接口：

Name	Documentation
`"socketcan"`	SocketCAN
`"kvaser"`	Kvaser’s CANLIB
`"serial"`	CAN over Serial
`"slcan"`	CAN over Serial / SLCAN
`"ixxat"`	IXXAT Virtual CAN Interface
`"pcan"`	PCAN Basic API
`"usb2can"`	USB2CAN Interface
`"nican"`	NI-CAN
`"iscan"`	isCAN
`"neovi"`	neoVI
`"vector"`	Vector
`"virtual"`	Virtual
`"canalystii"`	CANalyst-II
`"systec"`	SYSTEC interface

2.环境搭建
Python安装：https://www.python.org/ftp/python/3.7.9/python-3.7.9-amd64.exe
PCAN-USB驱动：https://www.peak-system.com/fileadmin/media/files/pcan-basic.zip
库：pip install python-can

3.参考文档
https://python-can.readthedocs.io/en/master/#

二、常用方法 1.接收报文

from can.interfaces.pcan.pcan import PcanBusdef bus_recv(): """轮询接收消息""" try: while True: msg = bus.recv(timeout=100) print(msg) except KeyboardInterrupt: passif __name__ == '__main__': bus = PcanBus(channel='PCAN_USBBUS1', bitrate=500000) bus_recv()

2.发送报文

from can.interfaces.pcan.pcan import PcanBusdef bus_send(): """can消息发送""" while True: time.sleep(0.02) try: bus.send(msg) print("消息发送 {}".format(bus.channel_info)) except can.CanError: print("消息未发送")if __name__ == '__main__': msg = can.Message(arbitration_id=0x181DFF00, data=https://www.it610.com/article/[0xEE, 0xFE, 0xFE, 0xFF, 0xFE, 0xFF, 0xFF, 0xFE], is_extended_id=True)# 报文 bus = PcanBus(channel='PCAN_USBBUS1', bitrate=500000) bus_send()

3.定期发送报文

def bus_send_periodic(): """周期发送报文""" print("开始每200毫秒发送一条消息。持续时间10s") task = bus.send_periodic(msg, 1.5)# 定期发送 if not isinstance(task, can.ModifiableCyclicTaskABC):# 断言task类型 print("此接口似乎不支持") task.stop() return time.sleep(5)# 持续时间 print("发送完成") print("更改运行任务的数据以99开头") msg.data[0] = 0x99 task.modify_data(msg)# 修改data首字节 time.sleep(10)task.stop() print("停止循环发送") print("将停止任务的数据更改为单个 ff 字节") msg.data = https://www.it610.com/article/bytearray([0xff])# 重新定向data msg.dlc = 1# 定义data长度 task.modify_data(msg)# 修改data time.sleep(10) print("重新开始") task.start()# 重新启动已停止的周期性任务 time.sleep(10) task.stop() print("完毕")if __name__ == '__main__': msg = can.Message(arbitration_id=0x181DFF00, data=https://www.it610.com/article/[0xEE, 0xFE, 0xFE, 0xFF, 0xFE, 0xFF, 0xFF, 0xFE], is_extended_id=True)# 报文 bus = PcanBus(channel='PCAN_USBBUS1', bitrate=500000) bus_send_periodic()

4.循环收发消息

from can.interfaces.pcan.pcan import PcanBusdef send_cyclic(stop_event): """循环发送消息""" print("开始每1秒发送1条消息") start_time = time.time() while not stop_event.is_set(): msg.timestamp = time.time() - start_time bus.send(msg) print(f"tx: {msg}") time.sleep(1) print("停止发送消息")def receive(stop_event): """循环接收消息""" print("开始接收消息") while not stop_event.is_set(): rx_msg = bus.recv(1) if rx_msg is not None: print(f"rx: {rx_msg}") print("停止接收消息")def send_and_recv_msg(): """发送一个消息并接收一个消息,需要双通道CAN""" stop_event = threading.Event() t_send_cyclic = threading.Thread(target=send_cyclic, args=(stop_event,)) t_receive = threading.Thread(target=receive, args=(stop_event,)) t_receive.start() t_send_cyclic.start() try: while True: time.sleep(0)# yield except KeyboardInterrupt: pass# 正常退出 stop_event.set() time.sleep(0.5)if __name__ == '__main__': msg = can.Message(arbitration_id=0x181DFF00, data=https://www.it610.com/article/[0xEE, 0xFE, 0xFE, 0xFF, 0xFE, 0xFF, 0xFF, 0xFE], is_extended_id=True)# 报文 bus = PcanBus(channel='PCAN_USBBUS1', bitrate=500000) send_and_recv_msg()

【python-can库基于PCAN-USB使用方法】