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LIN: network support (#146)
* LIN: network support * Add LIN LDF communication example
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‎build_libicsneo.py‎

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import shutil
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import sys
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7-
LIBICSNEO_COMMIT = 'bf6a059820e753c7672adbc01b0e8fdc58b2cfea'
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LIBICSNEO_COMMIT = '63c81b1c3d13bb96371611d7e2573d6e4adcb6e2'
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LIBUSB_COMMIT = '4239bc3a50014b8e6a5a2a59df1fff3b7469543b'
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CPUS = str(multiprocessing.cpu_count())
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‎examples/lin22.ldf‎

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/*******************************************************/
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/* This is the example LDF from LIN 2.2A specification */
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/*******************************************************/
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// Source: https://lin-cia.org/fileadmin/microsites/lin-cia.org/resources/documents/LIN_2.2A.pdf
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LIN_description_file;
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LIN_protocol_version = "2.2";
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LIN_language_version = "2.2";
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LIN_speed = 19.2 kbps;
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Channel_name = "DB";
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Nodes {
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Master: CEM, 5 ms, 0.1 ms;
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Slaves: LSM, RSM;
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}
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Signals {
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InternalLightsRequest: 2, 0, CEM, LSM, RSM;
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RightIntLightsSwitch: 8, 0, RSM, CEM;
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LeftIntLightsSwitch: 8, 0, LSM, CEM;
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LSMerror: 1, 0, LSM, CEM;
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RSMerror: 1, 0, RSM, CEM;
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IntTest: 2, 0, LSM, CEM;
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}
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Frames {
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CEM_Frm1: 0x01, CEM, 1 {
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InternalLightsRequest, 0;
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}
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LSM_Frm1: 0x02, LSM, 2 {
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LeftIntLightsSwitch, 8;
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}
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LSM_Frm2: 0x03, LSM, 1 {
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LSMerror, 0;
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IntTest, 1;
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}
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RSM_Frm1: 0x04, RSM, 2 {
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RightIntLightsSwitch, 8;
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}
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RSM_Frm2: 0x05, RSM, 1 {
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RSMerror, 0;
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}
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}
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Event_triggered_frames {
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Node_Status_Event : Collision_resolver, 0x06, RSM_Frm1, LSM_Frm1;
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}
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Node_attributes {
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RSM {
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LIN_protocol = "2.0";
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configured_NAD = 0x20;
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product_id = 0x4E4E, 0x4553, 1;
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response_error = RSMerror;
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P2_min = 150 ms;
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ST_min = 50 ms;
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configurable_frames {
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Node_Status_Event=0x000; CEM_Frm1 = 0x0001; RSM_Frm1 = 0x0002;
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RSM_Frm2 = 0x0003;
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}
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}
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LSM {
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LIN_protocol = "2.2";
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configured_NAD = 0x21;
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initial_NAD = 0x01;
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product_id = 0x4A4F, 0x4841;
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response_error = LSMerror;
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fault_state_signals = IntTest;
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P2_min = 150 ms;
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ST_min = 50 ms;
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configurable_frames {
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Node_Status_Event;
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CEM_Frm1;
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LSM_Frm1;
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LSM_Frm2;
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}
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}
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}
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Schedule_tables {
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Configuration_Schedule {
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AssignNAD {LSM} delay 15 ms;
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AssignFrameIdRange {LSM, 0} delay 15 ms;
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AssignFrameId {RSM, CEM_Frm1} delay 15 ms;
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AssignFrameId {RSM, RSM_Frm1} delay 15 ms;
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AssignFrameId {RSM, RSM_Frm2} delay 15 ms;
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}
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Normal_Schedule {
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CEM_Frm1 delay 15 ms;
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LSM_Frm2 delay 15 ms;
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RSM_Frm2 delay 15 ms;
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Node_Status_Event delay 10 ms;
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}
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MRF_schedule {
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MasterReq delay 10 ms;
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}
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SRF_schedule {
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SlaveResp delay 10 ms;
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}
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Collision_resolver { // Keep timing of other frames if collision
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CEM_Frm1 delay 15 ms;
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LSM_Frm2 delay 15 ms;
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RSM_Frm2 delay 15 ms;
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RSM_Frm1 delay 10 ms; // Poll the RSM node
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CEM_Frm1 delay 15 ms;
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LSM_Frm2 delay 15 ms;
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RSM_Frm2 delay 15 ms;
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LSM_Frm1 delay 10 ms; // Poll the LSM node
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}
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}
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Signal_encoding_types {
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Dig2Bit {
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logical_value, 0, "off";
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logical_value, 1, "on";
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logical_value, 2, "error";
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logical_value, 3, "void";
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}
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ErrorEncoding {
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logical_value, 0, "OK";
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logical_value, 1, "error";
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}
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FaultStateEncoding {
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logical_value, 0, "No test result";
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logical_value, 1, "failed";
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logical_value, 2, "passed";
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logical_value, 3, "not used";
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}
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LightEncoding {
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logical_value, 0, "Off";
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physical_value, 1, 254, 1, 100, "lux";
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logical_value, 255, "error";
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}
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}
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Signal_representation {
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Dig2Bit: InternalLightsRequest;
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ErrorEncoding: RSMerror, LSMerror;
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LightEncoding: RightIntLightsSwitch, LeftIntLightsSwitch;
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}

‎examples/transmit_lin_example.py‎

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import ics
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import random
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import time
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# Tells our custom open_device() function to do special behavior
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# with neoVI Server enabled so we can successfully open devices
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enable_use_server = True
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def dev_name(device):
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# Return a friendly name of the device (ie. neoVI FIRE2 CY1234)
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if int("AA0000", 36) <= device.SerialNumber <= int("ZZZZZZ", 36):
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return device.Name + " " + ics.base36enc(device.SerialNumber)
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else:
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return device.Name + " " + str(device.SerialNumber)
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def open_device(index=0):
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device = None
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if enable_use_server:
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# ics.open_device() won't open a device if we have handles open already
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# so we need to find them and specify which ones to connect to.
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devices = ics.find_devices()
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print("Opening Device {} (Open Client handles: {})...".format(dev_name(devices[index]), devices[index].NumberOfClients))
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ics.open_device(devices[index])
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device = devices[index]
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else:
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print("Opening Device...")
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device = ics.open_device()
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print("Opened Device %s." % dev_name(device))
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return device
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def calc_checksum(msg):
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checksum = 0
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for byte in msg.Header[1:]+msg.Data:
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checksum += byte
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if (checksum > 255):
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checksum -= 255
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msg.Data += tuple([~checksum & 0xFF])
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def transmit_lin(msg):
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calc_checksum(msg)
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msg.NumberBytesHeader = len(msg.Header)
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msg.NumberBytesData = len(msg.Data)
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try:
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ics.transmit_messages(device, msg)
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except ics.RuntimeError as ex:
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print(ex)
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raise ex
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def prepare_message(device):
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msg = ics.SpyMessageJ1850()
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msg.StatusBitField = ics.SPY_STATUS_INIT_MESSAGE
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msg.Protocol = ics.SPY_PROTOCOL_LIN
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msg.NetworkID = ics.NETID_LIN
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msg.Header = (0x11, 0x11, 0x22)
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msg.Data = (0x33, 0x44, 0x55, 0x66, 0x77, 0x88, 0x88)
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transmit_lin(msg)
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def receive_lin(device):
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msgs, error_count = ics.get_messages(device)
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print("Received {} messages with {} errors.".format(len(msgs), error_count))
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netids = { ics.NETID_LIN: "LIN 1", ics.NETID_LIN2: "LIN 2" }
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for i, m in enumerate(msgs):
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print('\nMessage #{}: '.format(i+1), end='')
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netid = netids.get(m.NetworkID)
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if netid is not None:
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print('{}'.format(netid), end='')
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if (m.StatusBitField & ics.SPY_STATUS_INIT_MESSAGE):
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print(' | Init', end='')
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data_list = []
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for x in m.Header[1:]:
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data_list.append(x)
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for y in m.Data:
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data_list.append(y)
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print('\nID: {} | '.format(hex(m.Header[0])), end='')
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if len(data_list):
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checksum = data_list.pop()
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print('Data: {} | '.format([hex(x) for x in data_list]), end='')
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print('Checksum: {}'.format(hex(checksum)))
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if __name__ == "__main__":
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import time
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# Lets figure out how many are connected to the PC and display it
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connected_count = len(ics.find_devices())
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print("Found {} connected device(s)...".format(connected_count))
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device = open_device(0)
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prepare_message(device)
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time.sleep(1)
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receive_lin(device)
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print("Finished.")

‎examples/transmit_lin_ldf_example.py‎

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import ics
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import random
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import time
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import os
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import ldfparser
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def parse_ldf():
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path = os.path.join(os.path.dirname(__file__), 'lin22.ldf')
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return ldfparser.parse_ldf(path)
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def dev_name(device):
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# Return a friendly name of the device (ie. neoVI FIRE2 CY1234)
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if int("AA0000", 36) <= device.SerialNumber <= int("ZZZZZZ", 36):
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return device.Name + " " + ics.base36enc(device.SerialNumber)
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else:
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return device.Name + " " + str(device.SerialNumber)
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def open_device(index=0):
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device = None
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# ics.open_device() won't open a device if we have handles open already
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# so we need to find them and specify which ones to connect to.
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devices = ics.find_devices()
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print("Opening Device {} (Open Client handles: {})...".format(dev_name(devices[index]), devices[index].NumberOfClients))
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ics.open_device(devices[index])
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device = devices[index]
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print("Opened Device %s." % dev_name(device))
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return device
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def receive_lin(device):
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msgs, error_count = ics.get_messages(device)
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print("Received {} messages with {} errors.".format(len(msgs), error_count))
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netids = { ics.NETID_LIN: "LIN 1" }#, ics.NETID_LIN2: "LIN 2" }
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for i, m in enumerate(msgs):
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netid = netids.get(m.NetworkID)
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if netid is not None:
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#print('\nMessage #{}: '.format(i+1), end='')
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print('{}'.format(netid), end='')
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if (m.StatusBitField & ics.SPY_STATUS_INIT_MESSAGE):
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print(' | Init')
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data_list = []
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for x in m.Header[1:]:
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data_list.append(x)
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for y in m.Data:
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data_list.append(y)
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try:
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frame_name = ldf.get_frame(m.Header[0] & 0x3F).name
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if frame_name is not None:
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print('{} | '.format(frame_name), end='')
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except:
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pass
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print('ID: {} | '.format(hex(m.Header[0])), end='')
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if len(data_list):
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checksum = data_list.pop()
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print('Data: {} | '.format([hex(x) for x in data_list]), end='')
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print('Checksum: {}'.format(hex(checksum)))
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print()
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return True
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def send_frame(self, baudrate: int, frame_id: int, data: bytearray, netid: int, is_commander: bool):
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# set baudrate with device settings?
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msg = ics.SpyMessageJ1850()
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if(is_commander):
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msg.StatusBitField = ics.SPY_STATUS_INIT_MESSAGE
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msg.Protocol = ics.SPY_PROTOCOL_LIN
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msg.NetworkID = netid
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header_bytes = [frame_id]
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frame_bytes = []
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if(len(data)):
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hdr_len = min(len(data), 2)
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data_len = min((len(data) - hdr_len), 6)
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checksum = 0
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if(hdr_len > 0):
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header_bytes += list(data[0:hdr_len])
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if(data_len > 0):
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frame_bytes += list(data[hdr_len:])
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for byte in header_bytes+frame_bytes:
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checksum += byte
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if (checksum > 255):
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checksum -= 255
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if(len(header_bytes) == 2):
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header_bytes.append(~checksum & 0xFF)
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else:
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frame_bytes.append(~checksum & 0xFF)
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msg.Header = tuple(header_bytes)
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msg.Data = tuple(frame_bytes)
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msg.NumberBytesHeader = len(msg.Header)
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msg.NumberBytesData = len(msg.Data)
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try:
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ics.transmit_messages(self.device, msg)
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except ics.RuntimeError as ex:
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print(ex)
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return False
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return True
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class LINCommander:
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def __init__(self, device):
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self.device = device
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self.frames = {}
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def send_commander_frame(self, baudrate: int, frame_id: int, data: bytearray):
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send_frame(self, baudrate, frame_id, data, ics.NETID_LIN, True)
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class LINResponder:
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def __init__(self, device):
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self.device = device
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self.frames = {}
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def send_responder_frame(self, baudrate: int, frame_id: int, data: bytearray):
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send_frame(self, baudrate, frame_id, data, ics.NETID_LIN2, False)
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if __name__ == "__main__":
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import time
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ldf = parse_ldf()
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# Lets figure out how many are connected to the PC and display it
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connected_count = len(ics.find_devices())
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print("Found {} connected device(s)...".format(connected_count))
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device = open_device(0)
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responder_nodes = ldf.get_slaves()
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commander_nodes = ldf.get_master()
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lin_cmdr = LINCommander(device)
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lin_resp = LINResponder(device)
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for resp in responder_nodes:
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for each in resp.publishes_frames:
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lin_resp.frames.update({each.name: each})
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for cmdr in commander_nodes.publishes_frames:
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lin_cmdr.frames.update({cmdr.name: cmdr})
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collision_schedule = ldf.get_schedule_table("Collision_resolver")
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for entry in collision_schedule.schedule:
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if(entry.frame is not None):
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if(entry.frame.name in lin_cmdr.frames):
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cmdr_data = entry.frame.encode({})
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lin_cmdr.send_commander_frame(ldf.baudrate, entry.frame.frame_id, cmdr_data)
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elif(entry.frame.name in lin_resp.frames):
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resp_data = entry.frame.encode({})
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lin_resp.send_responder_frame(ldf.baudrate, entry.frame.frame_id, resp_data)
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time.sleep(150/1000)
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lin_cmdr.send_commander_frame(ldf.baudrate, entry.frame.frame_id, bytearray())
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time.sleep(150/1000)
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#request_frame = ldf.get_unconditional_frame('CEM_Frm1')
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#request_data = request_frame.encode({"InternalLightsRequest": 'on'}, ldf.converters)
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#lin_cmdr.send_commander_frame(ldf.baudrate, request_frame.frame_id, request_data)
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#responseFrame = ldf.get_unconditional_frame('RSM_Frm1')
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#responseData = responseFrame.encode({"RightIntLightsSwitch": 'off'}, ldf.converters)
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#lin_resp.send_responder_frame(ldf.baudrate, responseFrame.frame_id, responseData)
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receive_lin(device)
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time.sleep(1)
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print("Finished.")

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