cansend.py

#! /usr/bin/env python

from __future__ import print_function

import can
import argparse

CAN_ID = '0x011'
MOTOR_INFO_PACKAGE = ('|', 0, '?')
COMM_CHECK_PACKAGE = ('B', 0, 'X')


parser = argparse.ArgumentParser(description='Send can message to C2000')
parser.add_argument('-i', '--can_id',
        default=CAN_ID,
        help='Set CAN ID (e.g. 0x012)')

def send_one(can_id):
    """Send CAN message to the bus

    Args:
        can_id (integer): CAN ID
    """

    bus = can.interface.Bus(channel='can0', bustype='socketcan_ctypes')
    msg = can.Message(arbitration_id=can_id,
            data=COMM_CHECK_PACKAGE, extended_id=False)

    try:
        bus.send(msg)
        print("Message sent on {}: {}".format(bus.channel_info, msg))
        resp = bus.recv(2)
        if resp:
            print("Response 1: {}".format(resp))
            resp = bus.recv(2)
            if resp:
                print("Response 2: {}".format(resp))
        else:
            print("No response")

    except can.CanError:
        print("Message NOT sent")


if __name__ == "__main__":
    args = parser.parse_args()
    if '0x' in args.can_id:
        can_id = int(args.can_id, 16)
    else:
        can_id = int(args.can_id)

    send_one(can_id)