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e5c4f0b17958b5c640d98aa03bb2660a10efb491
esp32-nmea2000-obp60/tools/sendN2K.py
wellenvogel e5c4f0b179 add actisense mode to sendN2K
2025-09-23 20:33:34 +02:00

651 lines
16 KiB
Python
Executable File
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#! /usr/bin/env python3
import re
import sys
import os
import datetime
import getopt
import time
###generated with getPgnType.py from canboat pgns.json
PGNM_Fast=0
PGNM_Single=1
PGNM_ISO=2
PGN_MODES={
59392: PGNM_Single,
59904: PGNM_Single,
60160: PGNM_Single,
60416: PGNM_Single,
60416: PGNM_Single,
60416: PGNM_Single,
60416: PGNM_Single,
60416: PGNM_Single,
60928: PGNM_Single,
61184: PGNM_Single,
61184: PGNM_Single,
61184: PGNM_Single,
65001: PGNM_Single,
65002: PGNM_Single,
65003: PGNM_Single,
65004: PGNM_Single,
65005: PGNM_Single,
65006: PGNM_Single,
65007: PGNM_Single,
65008: PGNM_Single,
65009: PGNM_Single,
65010: PGNM_Single,
65011: PGNM_Single,
65012: PGNM_Single,
65013: PGNM_Single,
65014: PGNM_Single,
65015: PGNM_Single,
65016: PGNM_Single,
65017: PGNM_Single,
65018: PGNM_Single,
65019: PGNM_Single,
65020: PGNM_Single,
65021: PGNM_Single,
65022: PGNM_Single,
65023: PGNM_Single,
65024: PGNM_Single,
65025: PGNM_Single,
65026: PGNM_Single,
65027: PGNM_Single,
65028: PGNM_Single,
65029: PGNM_Single,
65030: PGNM_Single,
65240: PGNM_ISO,
65280: PGNM_Single,
65284: PGNM_Single,
65285: PGNM_Single,
65285: PGNM_Single,
65286: PGNM_Single,
65286: PGNM_Single,
65287: PGNM_Single,
65287: PGNM_Single,
65288: PGNM_Single,
65289: PGNM_Single,
65290: PGNM_Single,
65292: PGNM_Single,
65293: PGNM_Single,
65293: PGNM_Single,
65302: PGNM_Single,
65305: PGNM_Single,
65305: PGNM_Single,
65305: PGNM_Single,
65305: PGNM_Single,
65305: PGNM_Single,
65309: PGNM_Single,
65312: PGNM_Single,
65340: PGNM_Single,
65341: PGNM_Single,
65345: PGNM_Single,
65350: PGNM_Single,
65359: PGNM_Single,
65360: PGNM_Single,
65361: PGNM_Single,
65371: PGNM_Single,
65374: PGNM_Single,
65379: PGNM_Single,
65408: PGNM_Single,
65409: PGNM_Single,
65410: PGNM_Single,
65420: PGNM_Single,
65480: PGNM_Single,
126208: PGNM_Fast,
126208: PGNM_Fast,
126208: PGNM_Fast,
126208: PGNM_Fast,
126208: PGNM_Fast,
126208: PGNM_Fast,
126208: PGNM_Fast,
126464: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126720: PGNM_Fast,
126983: PGNM_Fast,
126984: PGNM_Fast,
126985: PGNM_Fast,
126986: PGNM_Fast,
126987: PGNM_Fast,
126988: PGNM_Fast,
126992: PGNM_Single,
126993: PGNM_Single,
126996: PGNM_Fast,
126998: PGNM_Fast,
127233: PGNM_Fast,
127237: PGNM_Fast,
127245: PGNM_Single,
127250: PGNM_Single,
127251: PGNM_Single,
127252: PGNM_Single,
127257: PGNM_Single,
127258: PGNM_Single,
127488: PGNM_Single,
127489: PGNM_Fast,
127490: PGNM_Fast,
127491: PGNM_Fast,
127493: PGNM_Single,
127494: PGNM_Fast,
127495: PGNM_Fast,
127496: PGNM_Fast,
127497: PGNM_Fast,
127498: PGNM_Fast,
127500: PGNM_Single,
127501: PGNM_Single,
127502: PGNM_Single,
127503: PGNM_Fast,
127504: PGNM_Fast,
127505: PGNM_Single,
127506: PGNM_Fast,
127507: PGNM_Fast,
127508: PGNM_Single,
127509: PGNM_Fast,
127510: PGNM_Fast,
127511: PGNM_Single,
127512: PGNM_Single,
127513: PGNM_Fast,
127514: PGNM_Single,
127744: PGNM_Single,
127745: PGNM_Single,
127746: PGNM_Single,
127750: PGNM_Single,
127751: PGNM_Single,
128000: PGNM_Single,
128001: PGNM_Single,
128002: PGNM_Single,
128003: PGNM_Single,
128006: PGNM_Single,
128007: PGNM_Single,
128008: PGNM_Single,
128259: PGNM_Single,
128267: PGNM_Single,
128275: PGNM_Fast,
128520: PGNM_Fast,
128538: PGNM_Fast,
128768: PGNM_Single,
128769: PGNM_Single,
128776: PGNM_Single,
128777: PGNM_Single,
128778: PGNM_Single,
128780: PGNM_Single,
129025: PGNM_Single,
129026: PGNM_Single,
129027: PGNM_Single,
129028: PGNM_Single,
129029: PGNM_Fast,
129033: PGNM_Single,
129038: PGNM_Fast,
129039: PGNM_Fast,
129040: PGNM_Fast,
129041: PGNM_Fast,
129044: PGNM_Fast,
129045: PGNM_Fast,
129283: PGNM_Single,
129284: PGNM_Fast,
129285: PGNM_Fast,
129291: PGNM_Single,
129301: PGNM_Fast,
129302: PGNM_Fast,
129538: PGNM_Fast,
129539: PGNM_Single,
129540: PGNM_Fast,
129541: PGNM_Fast,
129542: PGNM_Fast,
129545: PGNM_Fast,
129546: PGNM_Single,
129547: PGNM_Fast,
129549: PGNM_Fast,
129550: PGNM_Fast,
129551: PGNM_Fast,
129556: PGNM_Fast,
129792: PGNM_Fast,
129793: PGNM_Fast,
129794: PGNM_Fast,
129795: PGNM_Fast,
129796: PGNM_Fast,
129797: PGNM_Fast,
129798: PGNM_Fast,
129799: PGNM_Fast,
129800: PGNM_Fast,
129801: PGNM_Fast,
129802: PGNM_Fast,
129803: PGNM_Fast,
129804: PGNM_Fast,
129805: PGNM_Fast,
129806: PGNM_Fast,
129807: PGNM_Fast,
129808: PGNM_Fast,
129808: PGNM_Fast,
129809: PGNM_Fast,
129810: PGNM_Fast,
130052: PGNM_Fast,
130053: PGNM_Fast,
130054: PGNM_Fast,
130060: PGNM_Fast,
130061: PGNM_Fast,
130064: PGNM_Fast,
130065: PGNM_Fast,
130066: PGNM_Fast,
130067: PGNM_Fast,
130068: PGNM_Fast,
130069: PGNM_Fast,
130070: PGNM_Fast,
130071: PGNM_Fast,
130072: PGNM_Fast,
130073: PGNM_Fast,
130074: PGNM_Fast,
130306: PGNM_Single,
130310: PGNM_Single,
130311: PGNM_Single,
130312: PGNM_Single,
130313: PGNM_Single,
130314: PGNM_Single,
130315: PGNM_Single,
130316: PGNM_Single,
130320: PGNM_Fast,
130321: PGNM_Fast,
130322: PGNM_Fast,
130323: PGNM_Fast,
130324: PGNM_Fast,
130330: PGNM_Fast,
130560: PGNM_Single,
130561: PGNM_Fast,
130562: PGNM_Fast,
130563: PGNM_Fast,
130564: PGNM_Fast,
130565: PGNM_Fast,
130566: PGNM_Fast,
130567: PGNM_Fast,
130569: PGNM_Fast,
130570: PGNM_Fast,
130571: PGNM_Fast,
130572: PGNM_Fast,
130573: PGNM_Fast,
130574: PGNM_Fast,
130576: PGNM_Single,
130577: PGNM_Fast,
130578: PGNM_Fast,
130579: PGNM_Single,
130580: PGNM_Fast,
130581: PGNM_Fast,
130582: PGNM_Single,
130583: PGNM_Fast,
130584: PGNM_Fast,
130585: PGNM_Single,
130586: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130816: PGNM_Fast,
130817: PGNM_Fast,
130817: PGNM_Fast,
130818: PGNM_Fast,
130819: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130820: PGNM_Fast,
130821: PGNM_Fast,
130821: PGNM_Fast,
130822: PGNM_Fast,
130823: PGNM_Fast,
130824: PGNM_Fast,
130824: PGNM_Fast,
130825: PGNM_Fast,
130827: PGNM_Fast,
130828: PGNM_Fast,
130831: PGNM_Fast,
130832: PGNM_Fast,
130833: PGNM_Fast,
130834: PGNM_Fast,
130835: PGNM_Fast,
130836: PGNM_Fast,
130836: PGNM_Fast,
130837: PGNM_Fast,
130837: PGNM_Fast,
130838: PGNM_Fast,
130839: PGNM_Fast,
130840: PGNM_Fast,
130842: PGNM_Fast,
130842: PGNM_Fast,
130842: PGNM_Fast,
130843: PGNM_Fast,
130843: PGNM_Fast,
130845: PGNM_Fast,
130845: PGNM_Fast,
130846: PGNM_Fast,
130846: PGNM_Fast,
130847: PGNM_Fast,
130850: PGNM_Fast,
130850: PGNM_Fast,
130850: PGNM_Fast,
130851: PGNM_Fast,
130856: PGNM_Fast,
130860: PGNM_Fast,
130880: PGNM_Fast,
130881: PGNM_Fast,
130944: PGNM_Fast,
}
def logError(fmt,*args):
print("ERROR:" +fmt%(args))
def dataToSep(data,maxbytes=None):
pd=None
dl=int(len(data)/2)
if maxbytes is not None and maxbytes < dl:
dl=maxbytes
for p in range(0,dl):
i=2*p
if pd is None:
pd=data[i:i+2]
else:
pd+=","+data[i:i+2]
return pd
class CanFrame:
DUMP_PAT=re.compile(r'\(([^)]*)\) *([^ ]*) *([^#]*)#(.*)')
def __init__(self,ts,pgn,src=1,dst=255,prio=1,data=None):
self.pgn=pgn
self.mode=PGN_MODES.get(pgn)
self.ts=ts
self.src=src
self.dst=dst
self.data=data
self.prio=prio
self.sequence=None
self.frame=None
self.len=8
if self.mode == PGNM_Fast and data is not None and len(self.data) >= 2:
fb=int(data[0:2],16)
self.frame=fb & 0x1f
self.sequence=fb >> 5
def key(self):
if self.sequence is None or self.pgn == 0:
return None
return f"{self.pgn}-{self.sequence}-{self.src}"
def getFPNum(self,bytes=False):
if self.frame != 0:
return None
if len(self.data) < 4:
return None
numbytes=int(self.data[2:4],16)
if bytes:
return numbytes
frames=int((numbytes-6-1)/7)+1+1 if numbytes > 6 else 1
return frames
def __str__(self):
return f"{self.ts},{self.prio},{self.pgn},{self.src},{self.dst},{self.len},{dataToSep(self.data)}"
@classmethod
def fromDump(cls,line):
'''(1658058069.867835) can0 09F80103#ACAF6C20B79AAC06'''
match=cls.DUMP_PAT.search(line)
if match is None:
logError("no dump pattern in line %s",line)
return
ts=match[1]
dt=datetime.datetime.fromtimestamp(float(ts),tz=datetime.UTC)
tstr=dt.strftime("%F-%T.")+dt.strftime("%f")[0:3]
data=match[4]
hdr=match[3]
hdrval=int(hdr,16)
#see candump2analyzer
src=hdrval & 0xff
prio=(hdrval >> 26) & 0x7
PF=(hdrval >> 16) & 0xff
PS=(hdrval >> 8) & 0xff
RDP=(hdrval >> 24) & 3
pgn=0
if PF < 240:
dst=PS
pgn=(RDP << 16) + (PF << 8)
else:
dst=0xff
pgn=(RDP << 16) + (PF << 8)+PS
return CanFrame(tstr,pgn,src=src,dst=dst,prio=prio,data=data)
class MultiFrame:
def __init__(self,firstFrame: CanFrame):
self.data=""
self.prio=firstFrame.prio
self.pgn=firstFrame.pgn
self.src=firstFrame.src
self.dst=firstFrame.dst
self.ts=firstFrame.ts
self.numFrames=firstFrame.getFPNum(bytes=False)
self.len=firstFrame.getFPNum(bytes=True)
self.finished=False
self.addFrame(firstFrame)
def addFrame(self,frame:CanFrame):
if self.finished:
return False
if frame.frame is None:
return False
if frame.frame == 0:
self.data+=frame.data[4:]
else:
self.data+=frame.data[2:]
if frame.frame >= (self.numFrames-1):
self.finished=True
return True
def __str__(self):
return f"{self.ts},{self.prio},{self.pgn},{self.src},{self.dst},{self.len},{dataToSep(self.data,self.numBytes)}"
def usage():
print(f"usage: {sys.argv[0]} [-q] [-p pgn,pgn,...] [-w waitsec] [ -f plain|actisense] file")
sys.exit(1)
F_PLAIN=0
F_ACT=1
FORMATS={
'plain':F_PLAIN,
'actisense':F_ACT
}
MAX_ACT=400
ACT_ESC=0x10
ACT_START=0x2
ACT_N2K=0x93
ACT_END=0x3
class ActBuffer:
def __init__(self):
self.buf=bytearray(MAX_ACT)
self.sum=0
self.idx=0
self.clear()
def clear(self):
self.sum=0
self.idx=2
self.buf[0:2]=(ACT_ESC,ACT_START)
def add(self,val):
#TODO: len check?
val=val & 0xff
self.buf[self.idx]=val
self.sum = (self.sum + val) & 0xff
self.idx+=1
if val == ACT_ESC:
self.buf[self.idx]=ACT_ESC
self.idx+=1
def finalize(self):
self.sum=self.sum % 256
self.sum = 256 - self.sum if self.sum != 0 else 0
self.add(self.sum)
self.buf[self.idx]=ACT_ESC
self.idx+=1
self.buf[self.idx]=ACT_END
self.idx+=1
actBuffer=ActBuffer()
def send_act(frame_like,quiet):
try:
actBuffer.clear()
actBuffer.add(ACT_N2K)
actBuffer.add(frame_like.len+11)
actBuffer.add(frame_like.prio)
pgn=frame_like.pgn
actBuffer.add(pgn)
pgn = pgn >> 8
actBuffer.add(pgn)
pgn = pgn >> 8;
actBuffer.add(pgn)
actBuffer.add(frame_like.dst)
actBuffer.add(frame_like.src)
#Time
actBuffer.add(0)
actBuffer.add(0)
actBuffer.add(0)
actBuffer.add(0)
actBuffer.add(frame_like.len)
for i in range(0,frame_like.len*2,2):
actBuffer.add(int(frame_like.data[i:i+2],16))
actBuffer.finalize()
sys.stdout.buffer.write(memoryview(actBuffer.buf)[0:actBuffer.idx])
sys.stdout.buffer.flush()
except Exception as e:
if not quiet:
print(f"Error writing actisense for pgn {frame_like.pgn}, idx={actBuffer.idx}: {e}",file=sys.stderr)
if __name__ == '__main__':
try:
opts,args=getopt.getopt(sys.argv[1:],"hp:qw:f:")
except getopt.GetoptError as e:
logError(e)
pgnlist=[]
quiet=False
delay=0.0
format=F_PLAIN
for o,a in opts:
if o == '-h':
usage()
elif o == '-q':
quiet=True
elif o == '-p':
pgns=(int(x) for x in a.split(","))
pgnlist.extend(pgns)
elif o == '-w':
delay=float(a)
elif o == '-f':
format=FORMATS.get(a)
if format is None:
logError(f"invalid format {a}, allowed {','.join(FORMATS.keys())}")
if len(args) < 1:
usage()
hasFilter=len(pgnlist) > 0
if not quiet and hasFilter:
print(f"PGNs: {','.join(str(x) for x in pgnlist)}")
with open (args[0],"r") as fh:
buffer={}
lnr=0
for line in fh:
lnr+=1
frame=CanFrame.fromDump(line)
if hasFilter and not frame.pgn in pgnlist:
continue
if frame.sequence is None:
if format == F_PLAIN:
print(frame)
else:
send_act(frame,quiet)
if delay > 0:
time.sleep(delay)
else:
key=frame.key()
mf=buffer.get(key)
mustDelete=False
if mf is None:
if frame.frame != 0:
if not quiet:
print(f"floating multi frame in line {lnr}: {frame}",file=sys.stderr)
continue
mf=MultiFrame(frame)
if not mf.finished:
buffer[key]=mf
else:
mf.addFrame(frame)
mustDelete=True
if mf.finished:
if format == F_PLAIN:
print(mf)
else:
send_act(mf,quiet)
if mustDelete:
del buffer[key]
if delay > 0:
time.sleep(delay)
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