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Can Manager

Converters​

can​

Converts raw CAN data using the CAN database available for the current protocol. The CAN database file (.dbc) is found on the local file system by the following path expression:

/opt/autopi/obd/can/db/protocol_<PROTOCOL ID>.dbc

Handlers​

autodetect​

Autodetection of interfaces and their supported protocols.

connection​

Manages the CAN connections.

OPTIONAL ARGUMENTS

  • open (bool): Attempt to open connection. Defaults to True if autodetecting, otherwise, don`t change connection state.

dump​

Stores messages from the CAN bus to a file until a limit or duration is reached.

ARGUMENTS

  • file (str): Write data to a file with the given name. Supported file extensions are .asc, .blf, .csv, .db and .log.

OPTIONAL ARGUMENTS

  • duration (int): How many seconds to record data? Default value is 1.
  • limit (int): The maximum number of messages to read.
  • receive_timeout (float): The amount of time in seconds to wait for a reply message. Default value is 0.2.
  • skip_11bit_ids (bools): Skip all messages with 11bit arbitration IDs. Default value is False.
  • skip_29bit_ids (bools): Skip all messages with 29bit arbitration IDs. Default value is False.
  • skip_error_frames (bool): Skip all messages marked as error frames. Default value is False.
  • skip_remote_frames (bool): Skip all messages marked as remote frames. Default value is False.
  • skip_normal_frames (bool): Skip all messages marked as normal data frames. Default value is False.
  • pass_filters (list): List of arbitration ID filters which are allowed to be received.
  • keep_listening (bool): Continue listening for messages in the background? Default value is False.
  • buffer_size (int): The limit of messages that the internal queue can hold. If the value is less than or equal to zero, the queue size is infinite. Default value is 0.
  • bus (str): Name of bus to use. Defaults to can_conn.DefaultBus mapping.
  • conn (str): Name of the CAN interface to use.
  • sanitize (bool): Enable/disable input sanitization. Defaults to True.

OPTIONAL ARGUMENTS FOR ASC AND BLF FILES

  • channel (int): The default value to use when a message does not have a channel set. Default value is 1.

OPTIONAL ARGUMENTS FOR CSV FILE

  • append (bool): Append messages to an existing file where no header line is written or truncate and start with a newly written header line? Default value is False.

OPTIONAL ARGUMENTS FOR DB FILE (SQLITE)

  • table_name (str): The name of the table to store messages in. Default value is messages.

OPTIONAL ARGUMENTS FOR LOG FILE

  • channel (str): The default value to use when a message does not have a channel set. Default value is vcan0.
  • append (bool): Append messages to any existing file or truncate it? Default value is False.

filter​

Display and management of CAN filters.

ARGUMENTS

  • *channels (str): The channel(s) to include in the result. If none defined all channels are included.

OPTIONAL ARGUMENTS

  • bus (str): Name of a specific bus to display or change.
  • add (str): The CAN arbitration ID to add as filter.
  • mask (str): The bitmask to use with the CAN arbitration ID to perform filtering. If not specified, the value is automatically set to the highest possible, meaning a perfect match with the defined CAN arbitration ID.
  • is_ext_id (bool): Explicit indication of whether to use extended CAN arbitration ID or not (29 or 11 bit). If omitted, the value will be inferred automaticlly by the length of the defined CAN arbitration ID.
  • clear (bool): Clear any existing filters? This is always done before adding. Default value is False.

EXAMPLES

  • can.filter can0
  • can.filter can0 bus=dump
  • can.filter can0 bus=dump add=7E0
  • can.filter can0 bus=dump clear=true
  • can.filter can0 bus=dump clear=true add=x7E0
  • can.filter can0 bus=dump clear=true add=x7E0 mask=x7FF
  • can.filter can0 bus=dump clear=true add=x7E0 mask=x7FF is_ext_id=false

j1939_query​

Queries a J1939 PGN on the CAN bus.

ARGUMENTS

  • pgn (int): Number of the PGN to query.

OPTIONAL ARGUMENTS, J1939 SPECIFIC

  • priority (int): The priority to use for the request message. Default value is 6.
  • destination_address (int): The destination address of the request message. Default value is 0.
  • source_address (int): The source address of the request message. Default value is 249 (Service Tool).
  • auto_filter (bool): Ensure to apply filtering to only include reply message for the specific PGN. Default value is True.
  • auto_filter_mask (int): The bitmask to use when the filter is applied. Default value is 0x00FFFF00.
  • bus (str): Name of bus to use. Defaults to can_conn.DefaultBus mapping.
  • conn (str): Name of the CAN interface to use.
  • name (str): Name of the command. (E.g. VehicleSpeed or SeatTemperature)
  • sanitize (bool): Enable/disable input sanitization. Defaults to True.

OPTIONAL ARGUMENTS, GENERAL

  • ensure_filtering (bool): Ensure that reply messages not matching the filters are excluded. Default value is True.
  • replies (int): The amount of reply messages to wait for within a timeout.
  • skip_error_frames (bool): Skip any reply message marked as an error frame. Default value is True.
  • skip_remote_frames (bool): Skip any reply message marked as a remote frame. Default value is True.
  • strict (bool): Raise an error when no reply messages are received or if the amount of expected reply messages is not met within the timeout. Default value is True.
  • timeout (float): The amount of time in seconds to wait for a reply message. Default value is 0.2.
  • output (str): Select obj, dict or str as the output data type of the reply messages. Ignored if formula argument is given. Default value is str.
  • formula (str): Python code that decodes the raw byte data to a value.

monitor​

Monitors messages on the CAN bus until a limit and/or duration is reached.

OPTIONAL ARGUMENTS

  • duration (float): How many seconds to record data? Default value is 1.
  • limit (int): The maximum number of messages to read.
  • receive_timeout (float): The amount of time in seconds to wait for a reply message. Default value is 0.2.
  • skip_error_frames (bool): Skip any reply message marked as an error frame. Default value is False.
  • bus (str): Name of bus to use. Defaults to can_conn.DefaultBus mapping.
  • conn (str): Name of the CAN interface to use.
  • keep_listening (bool): Continue listening for messages in the background? Default value is False.
  • bus_keep_alive (bool): Will keep the bus and its settings alive after the handler is finished. Forced to True if keep_listening is set. Default value is False.
  • buffer_size (int): The limit of messages that the internal queue can hold. If the value is less than or equal to zero, the queue size is infinite. Default value is 0.
  • output (str): Select obj, dict or str as the output data type of the reply messages. Ignored if dbc argument is given. Default value is str.
  • dbc (str): Path of the can database file (like .dbc) for filtering and decoding. Defaults to None.
  • mask (str): Mask to apply to filters and CAN database for decoding. Defaults to None.
  • sanitize (bool): Enable/disable input sanitization. Defaults to True.

obd_query​

Queries an OBD-II PID on the CAN bus.

ARGUMENTS

  • name (str): Name of the command.

OPTIONAL ARGUMENTS, OBD-II SPECIFIC

  • mode (str): Service section of the PID.
  • pid (str): Code section of the PID.
  • bytes (int): Byte size of individual returned frame(s). Default value is 0.
  • frames (int): Expected frame count to be returned?
  • strict (int): Enforce strict validation of specified bytes and/or frames. Default value is False.
  • decoder (str): Specific decoder to be used to process the response.
  • unit (str): Unit of the result.
  • auto_filter (bool): Ensure to apply filtering to only include OBD-II reply messages. Default value is True.
  • auto_format (bool): Ensure that the PID request message always has a fixed data length of 8 bytes (zero padding). Default value is True.
  • id (int): Use a custom CAN arbitration ID for the PID request message.
  • is_ext_id (int): Enforce to use extended CAN arbitration ID or not (29 or 11 bit) for the PID request message.
  • bus (str): Name of bus to use. Defaults to can_conn.DefaultBus mapping.
  • conn (str): Name of the CAN interface to use.
  • sanitize (bool): Enable/disable input sanitization. Defaults to True.

OPTIONAL ARGUMENTS, GENERAL

  • formula (str): Python code that decodes the raw byte data to a value.
  • ensure_filtering (bool): Ensure that reply messages not matching the filters are excluded. Default value is True.
  • flow_control (list): List of flow control ID resolvers to enable. Options are obd and custom. Default value is False (disabled).
  • replies (int): The amount of reply messages to wait for within a timeout.
  • skip_error_frames (bool): Skip any reply message marked as an error frame. Default value is True.
  • skip_remote_frames (bool): Skip any reply message marked as a remote frame. Default value is True.
  • strict (bool): Raise an error when no reply messages are received or if the amount of expected reply messages is not met within the timeout. Default value is True.
  • timeout (float): The amount of time in seconds to wait for a reply message. Default value is 0.2.

play​

Sends all messages from one or more dump files on the CAN bus.

ARGUMENTS

  • *files (str): Specify one or more dump files for playback.

OPTIONAL ARGUMENTS

  • ignore_timestamps (bool): Ignore the timestamps of the messages and use the min_gap parameter as the time between messages instead. Default value is False.
  • min_gap (float): Minimum time between sent messages in seconds. Default value is 0.0001.
  • skip_gaps_gt (float): Skip periods of inactivity greater than this (in seconds). Default value is 86400.
  • include_error_frames (bool): Also send messages marked as error frames? Default value is True.
  • bus (str): Name of bus to use. Defaults to can_conn.DefaultBus mapping.
  • conn (str): Name of the CAN interface to use.
  • sanitize (bool): Enable/disable input sanitization. Defaults to True.

query​

Queries by sending one or more request messages on the CAN bus and then waits for one or more reply messages.

ARGUMENTS

  • *messages (can.Message|str): CAN request messages to send.

OPTIONAL ARGUMENTS

  • ensure_filtering (bool): Ensure that reply messages not matching the filters are excluded. Default value is True.
  • flow_control (list): List of flow control ID resolvers to enable. Options are obd and custom. Default value is False (disabled).
  • replies (int): The amount of reply messages to wait for within a timeout.
  • skip_error_frames (bool): Skip any reply message marked as an error frame. Default value is True.
  • skip_remote_frames (bool): Skip any reply message marked as a remote frame. Default value is True.
  • strict (bool): Raise an error when no reply messages are received or if the amount of expected reply messages is not met within the timeout. Default value is True.
  • timeout (float): The amount of time in seconds to wait for a reply message. Default value is 0.2.
  • output (str): Select obj, dict or str as the output data type of the reply messages. Default value is str.
  • bus (str): Name of bus to use. Defaults to can_conn.DefaultBus mapping.
  • conn (str): Name of the CAN interface to use.
  • formula (str): Python code that decodes the raw byte data to a value.
  • name (str): Name of the command. (E.g. VehicleSpeed or SeatTemperature)
  • sanitize (bool): Enable/disable input sanitization. Defaults to True.

send​

Sends one or more messages on the CAN bus.

ARGUMENTS

  • *messages (str): CAN messages to send.

OPTIONAL ARGUMENTS

  • bus (str): Name of bus to use. Defaults to can_conn.DefaultBus mapping.
  • conn (str): Name of the CAN interface to use.
  • sanitize (bool): Enable/disable input sanitization. Defaults to True.

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