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# Copyright (C) 2024 Suchinton Chakravarty
#
# SPDX-License-Identifier: Apache-2.0
import can
import time
from rich.console import Console
import os
import argparse
class CAN_playback:
def __init__(self, interface='vcan0'):
"""
Initialize the CAN Tool with the specified interface.
Args:
interface (str): The CAN interface name (default: 'vcan0')
"""
self.console_mode = False
self.interface = interface
self.bus = can.interface.Bus(interface='socketcan', channel=self.interface, bitrate=500000)
self.output_file = os.path.join(os.path.dirname(__file__), 'can_messages.txt')
def write_to_file(self, messages):
"""
Write captured CAN messages to a file.
Args:
messages (list): List of can.Message objects to write
"""
with open(self.output_file, 'w') as file:
for msg in messages:
file.write(f"{msg.timestamp},{msg.arbitration_id},{msg.dlc},{','.join(map(lambda b: f'0x{b:02x}', msg.data))}\n")
def playback_messages(self):
if os.path.exists(self.output_file):
#console.print("Replaying captured messages...")
messages = []
with open(self.output_file, 'r') as file:
for line in file:
parts = line.strip().split(',', 3) # Split into at most 4 parts
timestamp, arbitration_id, dlc, data_str = parts
# Extract the data bytes, removing '0x' and splitting by ','
data_bytes = [int(byte, 16) for byte in data_str.split(',') if byte]
msg = can.Message(
timestamp=float(timestamp),
arbitration_id=int(arbitration_id, 0),
dlc=int(dlc),
data=data_bytes
)
messages.append(msg)
self.replay_messages(messages)
def stop(self):
self._running = False
if self.bus is not None:
self.bus.shutdown()
def replay_messages(self, messages):
"""
Replay CAN messages on the specified bus.
Args:
messages (list): List of can.Message objects to replay
"""
self._running = True
start_time = messages[0].timestamp
for msg in messages:
delay = msg.timestamp - start_time
self.bus.send(msg)
time.sleep(delay)
start_time = msg.timestamp
if self._running == False: return
def capture_can_messages(self):
"""
Capture CAN messages from the specified bus.
Returns:
list: List of captured can.Message objects
"""
messages = []
if self.console_mode:
console = Console()
console.print(f"Capturing CAN messages on {self.interface}. Press Ctrl+C to stop.")
try:
while True:
message = self.bus.recv()
if message is not None:
messages.append(message)
except KeyboardInterrupt:
console.print("Capture stopped.")
return messages
def main():
from rich.console import Console
from rich.prompt import Prompt
parser = argparse.ArgumentParser(description='CAN Message Capture and Replay Tool')
parser.add_argument('--interface', '-i', type=str, default='vcan0', help='Specify the CAN interface (default: vcan0)')
args = parser.parse_args()
# Initialize the CAN Tool with the specified interface
can_tool = CAN_playback(interface=args.interface)
can_tool.console_mode = True
console = Console()
while True:
console.print("\n[bold]CAN Message Capture and Replay[/bold]")
console.print("1. Capture CAN messages")
console.print("2. Replay captured messages")
console.print("3. Exit")
choice = Prompt.ask("Enter your choice", choices=['1', '2', '3'])
if choice == '1':
messages = can_tool.capture_can_messages()
console.print(f"Captured {len(messages)} messages.")
can_tool.write_to_file(messages)
console.print(f"CAN messages written to {can_tool.output_file}")
elif choice == '2':
if os.path.exists(can_tool.output_file):
console.print("Replaying captured messages...")
can_tool.playback_messages()
console.print("Replay completed.")
else:
console.print(f"No captured messages found in {can_tool.output_file}")
else:
console.print("Exiting...")
break
if __name__ == "__main__":
main()
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