Merged in evs-inmotion/python-can/pcan-fixes (pull request #30)

PCAN fixes

Author: hardbyte

can/interfaces/pcan.py

@@ -10,6 +10,7 @@
 from can.interfaces.PCANBasic import *
 from can.bus import BusABC
 from can.message import Message
+from can import CanError
 import time
 
 boottimeEpoch = 0
@@ -58,14 +59,14 @@ def __init__(self, channel, *args, **kwargs):
 
         :param str channel:
             The can interface name. An example would be PCAN_USBBUS1
-            
+
         Backend Configuration
         ---------------------
-            
+
         :param int bitrate:
             Bitrate of channel in bit/s.
             Default is 500 Kbs
-            
+
         """
         if channel is None or channel == '':
             raise ArgumentError("Must specify a PCAN channel")
@@ -74,7 +75,7 @@ def __init__(self, channel, *args, **kwargs):
 
         bitrate = kwargs.get('bitrate', 500000)
         pcan_bitrate = pcan_bitrate_objs.get(bitrate, PCAN_BAUD_500K)
-        
+
         hwtype = PCAN_TYPE_ISA
         ioport = 0x02A0
         interrupt = 11
@@ -85,8 +86,7 @@ def __init__(self, channel, *args, **kwargs):
         result = self.m_objPCANBasic.Initialize(self.m_PcanHandle, pcan_bitrate, hwtype, ioport, interrupt)
 
         if result != PCAN_ERROR_OK:
-            # TODO throw a specific exception.
-            raise Exception(self._get_formatted_error(result))
+            raise PcanError(self._get_formatted_error(result))
 
         super(PcanBus, self).__init__(*args, **kwargs)
 
@@ -166,35 +166,32 @@ def recv(self, timeout=None):
                     result = None
                     time.sleep(0.001)
             elif result[0] != PCAN_ERROR_OK:
-                raise Exception(self._get_formatted_error(result[0]))
+                raise PcanError(self._get_formatted_error(result[0]))
 
         theMsg = result[1]
         itsTimeStamp = result[2]
 
         log.debug("Received a message")
 
-        arbitration_id = theMsg.ID
-
         bIsRTR = (theMsg.MSGTYPE & PCAN_MESSAGE_RTR.value) == PCAN_MESSAGE_RTR.value
         bIsExt = (theMsg.MSGTYPE & PCAN_MESSAGE_EXTENDED.value) == PCAN_MESSAGE_EXTENDED.value
 
-        # Flags: EXT, RTR, ERR
-        #flags = (PYCAN_RTRFLG if bIsRTR else 0) | (PYCAN_STDFLG if not bIsExt else 0)
-
         if bIsExt:
             #rx_msg.id_type = ID_TYPE_EXTENDED
             log.debug("CAN: Extended")
         else:
             #rx_msg.id_type = ID_TYPE_STANDARD
             log.debug("CAN: Standard")
 
-        rx_msg.arbitration_id = arbitration_id
-        rx_msg.id_type = bIsExt
-        rx_msg.is_remote_frame = bIsRTR
-        rx_msg.dlc = theMsg.LEN
-        #rx_msg.flags = flags
-        rx_msg.data = theMsg.DATA
-        rx_msg.timestamp = boottimeEpoch + ((itsTimeStamp.micros + (1000 * itsTimeStamp.millis)) / (1000.0 * 1000.0))
+        dlc = theMsg.LEN
+        timestamp = boottimeEpoch + ((itsTimeStamp.micros + (1000 * itsTimeStamp.millis)) / (1000.0 * 1000.0))
+
+        rx_msg = Message(timestamp=timestamp,
+                         arbitration_id=theMsg.ID,
+                         extended_id=bIsExt,
+                         is_remote_frame=bIsRTR,
+                         dlc=dlc,
+                         data=theMsg.DATA[:dlc])
 
         return rx_msg
 
@@ -214,7 +211,7 @@ def send(self, msg):
 
         # if a remote frame will be sent, data bytes are not important.
         if msg.is_remote_frame:
-            CANMsg.MSGTYPE = msgType | PCAN_MESSAGE_RTR
+            CANMsg.MSGTYPE = msgType.value | PCAN_MESSAGE_RTR.value
         else:
             # copy data
             for i in range(CANMsg.LEN):
@@ -224,13 +221,8 @@ def send(self, msg):
         log.debug("Type: %s", type(msg.data))
 
         result = self.m_objPCANBasic.Write(self.m_PcanHandle, CANMsg)
-
-        sent = result == PCAN_ERROR_OK
-
-        if not sent:
-            logging.warning("Failed to send: " + self._get_formatted_error(result))
-
-        return sent
+        if result != PCAN_ERROR_OK:
+            raise PcanError("Failed to send: " + self._get_formatted_error(result))
 
     def flash(self, flash):
         """
@@ -241,3 +233,7 @@ def flash(self, flash):
 
     def shutdown(self):
         self.m_objPCANBasic.Uninitialize(self.m_PcanHandle)
+
+
+class PcanError(CanError):
+    pass