Merge branch 'develop' into add_typing_for_slcan_interface

Author: hardbyte

can/interfaces/ics_neovi/neovi_bus.py

@@ -11,7 +11,9 @@
 import logging
 import os
 import tempfile
-from collections import deque
+from collections import deque, defaultdict
+from itertools import cycle
+from threading import Event
 
 from can import Message, CanError, BusABC
 
@@ -55,6 +57,7 @@ def __exit__(self, exc_type, exc_val, exc_tb):
 # Use inter-process mutex to prevent concurrent device open.
 # When neoVI server is enabled, there is an issue with concurrent device open.
 open_lock = FileLock(os.path.join(tempfile.gettempdir(), "neovi.lock"))
+description_id = cycle(range(1, 0x8000))
 
 
 class ICSApiError(CanError):
@@ -176,6 +179,7 @@ def __init__(self, channel, can_filters=None, **kwargs):
         logger.info("Using device: {}".format(self.channel_info))
 
         self.rx_buffer = deque()
+        self.message_receipts = defaultdict(Event)
 
     @staticmethod
     def channel_to_netid(channel_name_or_id):
@@ -261,9 +265,18 @@ def _process_msg_queue(self, timeout=0.1):
         for ics_msg in messages:
             if ics_msg.NetworkID not in self.channels:
                 continue
+
             is_tx = bool(ics_msg.StatusBitField & ics.SPY_STATUS_TX_MSG)
-            if not self._receive_own_messages and is_tx:
-                continue
+
+            if is_tx:
+                if bool(ics_msg.StatusBitField & ics.SPY_STATUS_GLOBAL_ERR):
+                    continue
+                if ics_msg.DescriptionID:
+                    receipt_key = (ics_msg.ArbIDOrHeader, ics_msg.DescriptionID)
+                    self.message_receipts[receipt_key].set()
+                if not self._receive_own_messages:
+                    continue
+
             self.rx_buffer.append(ics_msg)
         if errors:
             logger.warning("%d error(s) found", errors)
@@ -343,7 +356,19 @@ def _recv_internal(self, timeout=0.1):
             return None, False
         return msg, False
 
-    def send(self, msg, timeout=None):
+    def send(self, msg, timeout=0):
+        """Transmit a message to the CAN bus.
+
+        :param Message msg: A message object.
+
+        :param float timeout:
+            If > 0, wait up to this many seconds for message to be ACK'ed.
+            If timeout is exceeded, an exception will be raised.
+            None blocks indefinitely.
+
+        :raises can.CanError:
+            if the message could not be sent
+        """
         if not ics.validate_hobject(self.dev):
             raise CanError("bus not open")
         message = ics.SpyMessage()
@@ -379,7 +404,20 @@ def send(self, msg, timeout=None):
         else:
             raise ValueError("msg.channel must be set when using multiple channels.")
 
+        msg_desc_id = next(description_id)
+        message.DescriptionID = msg_desc_id
+        receipt_key = (msg.arbitration_id, msg_desc_id)
+
+        if timeout != 0:
+            self.message_receipts[receipt_key].clear()
+
         try:
             ics.transmit_messages(self.dev, message)
         except ics.RuntimeError:
             raise ICSApiError(*ics.get_last_api_error(self.dev))
+
+        # If timeout is set, wait for ACK
+        # This requires a notifier for the bus or
+        # some other thread calling recv periodically
+        if timeout != 0 and not self.message_receipts[receipt_key].wait(timeout):
+            raise CanError("Transmit timeout")

can/interfaces/pcan/basic.py

@@ -545,6 +545,10 @@ def __init__(self):
                 logger.error("Exception: The PEAK-driver couldn't be found!")
             finally:
                 winreg.CloseKey(aReg)
+        elif "CYGWIN" in platform.system():
+            self.__m_dllBasic = cdll.LoadLibrary("PCANBasic.dll")
+            # Unfortunately cygwin python has no winreg module, so we can't
+            # check for the registry key.
         elif platform.system() == "Darwin":
             self.__m_dllBasic = cdll.LoadLibrary("libPCBUSB.dylib")
         else: