Enable echo frames in PCAN driver if receive_own_messages is set (#1723)

* Enable echo frames in PCAN driver if receive_own_messages is set

* Appease the linter

* Set message direction to TX if the received message is an echo frame

Author: tttech-ferdigg

can/interfaces/pcan/pcan.py

@@ -26,6 +26,7 @@
     FEATURE_FD_CAPABLE,
     IS_LINUX,
     IS_WINDOWS,
+    PCAN_ALLOW_ECHO_FRAMES,
     PCAN_ALLOW_ERROR_FRAMES,
     PCAN_API_VERSION,
     PCAN_ATTACHED_CHANNELS,
@@ -47,6 +48,7 @@
     PCAN_LANBUS1,
     PCAN_LISTEN_ONLY,
     PCAN_MESSAGE_BRS,
+    PCAN_MESSAGE_ECHO,
     PCAN_MESSAGE_ERRFRAME,
     PCAN_MESSAGE_ESI,
     PCAN_MESSAGE_EXTENDED,
@@ -120,6 +122,7 @@ def __init__(
         state: BusState = BusState.ACTIVE,
         timing: Optional[Union[BitTiming, BitTimingFd]] = None,
         bitrate: int = 500000,
+        receive_own_messages: bool = False,
         **kwargs: Any,
     ):
         """A PCAN USB interface to CAN.
@@ -162,6 +165,9 @@ def __init__(
             Default is 500 kbit/s.
             Ignored if using CanFD.
 
+        :param receive_own_messages:
+            Enable self-reception of sent messages.
+
         :param bool fd:
             Should the Bus be initialized in CAN-FD mode.
 
@@ -316,6 +322,14 @@ def __init__(
                     "Ignoring error. PCAN_ALLOW_ERROR_FRAMES is still unsupported by OSX Library PCANUSB v0.11.2"
                 )
 
+        if receive_own_messages:
+            result = self.m_objPCANBasic.SetValue(
+                self.m_PcanHandle, PCAN_ALLOW_ECHO_FRAMES, PCAN_PARAMETER_ON
+            )
+
+            if result != PCAN_ERROR_OK:
+                raise PcanCanInitializationError(self._get_formatted_error(result))
+
         if kwargs.get("auto_reset", False):
             result = self.m_objPCANBasic.SetValue(
                 self.m_PcanHandle, PCAN_BUSOFF_AUTORESET, PCAN_PARAMETER_ON
@@ -548,6 +562,7 @@ def _recv_internal(
         is_extended_id = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_EXTENDED.value)
         is_remote_frame = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_RTR.value)
         is_fd = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_FD.value)
+        is_rx = not bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_ECHO.value)
         bitrate_switch = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_BRS.value)
         error_state_indicator = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_ESI.value)
         is_error_frame = bool(pcan_msg.MSGTYPE & PCAN_MESSAGE_ERRFRAME.value)
@@ -575,6 +590,7 @@ def _recv_internal(
             dlc=dlc,
             data=pcan_msg.DATA[:dlc],
             is_fd=is_fd,
+            is_rx=is_rx,
             bitrate_switch=bitrate_switch,
             error_state_indicator=error_state_indicator,
         )