CANNode/tools/can2mqtt.py

#!/usr/bin/env python3
from __future__ import absolute_import, print_function

import sys
import argparse
import socket
from datetime import datetime

import can
from can import Bus, BusState, Logger

import paho.mqtt.client as mqtt

def decon(msg_id):
   msg_prio=msg_id>>26
   msg_type=(msg_id>>24) & 0x03
   msg_dst=(msg_id>>16) & 0xFF
   msg_src=(msg_id>>8) & 0xFF
   msg_cmd=msg_id & 0xFF
   print("prio: ", hex(msg_prio),"type: ", hex(msg_type)," dst: ", hex(msg_dst)," src: ", hex(msg_src)," cmd: ",hex(msg_cmd))
   return [msg_prio, msg_type, msg_dst, msg_src, msg_cmd]

def on_connect(mcp_mqtt, userdata, flags, rc):
    print("Connected with result code "+str(rc))

    # Subscribing in on_connect() means that if we lose the connection and
    # reconnect then subscriptions will be renewed.
    mcp_mqtt.subscribe("can/raw")
    mcp_mqtt.subscribe("ctest/#")

def on_message(mcp_mqtt, userdata, msg):
    local_bus=userdata
    topic=msg.topic
    print("data Received topic: ", topic)
    m_decode=str(msg.payload.decode("utf-8","ignore"))
    print("data Received",m_decode)
    msg_id=int(m_decode.split('#')[0],16)

    msg_data=int(m_decode.split('#')[1],16)
    print(msg_data)
    m = can.Message(arbitration_id=msg_id,
          data=[msg_data],
          extended_id=True)
    try:
        local_bus.send(m)
    except BaseException as e:
        logging.error("Error sending can message {%s}: %s" % (m, e))
    print("data sent to CAN",m)
def main():
    verbosity = 2

    logging_level_name = ['critical', 'error', 'warning', 'info', 'debug', 'subdebug'][min(5, verbosity)]
    can.set_logging_level(logging_level_name)

    can_filters = []
    config = {"can_filters": can_filters, "single_handle": True}
    config["interface"] = "socketcan"
    config["bitrate"] = 125000
    bus = Bus("can1", **config)

    print('Connected to {}: {}'.format(bus.__class__.__name__, bus.channel_info))
    print('Can Logger (Started on {})\n'.format(datetime.now()))

    mcp_mqtt = mqtt.Client()
    mcp_mqtt.on_connect = on_connect
    mcp_mqtt.on_message = on_message
    mcp_mqtt.user_data_set(bus)
    mcp_mqtt.connect("mcp", 1883, 60)

    try:
        while True:
            mcp_mqtt.loop_start()
            msg = bus.recv(1)
            if msg is not None:
               de=decon(msg.arbitration_id)
               m= { "prio": hex(de[0]), "type": hex(de[1]), "dst": hex(de[2]), "src": hex(de[3]), "cmd": hex(de[4]), "data": "".join("%02x" % b for b in msg.data) }
               print(m) 
               mcp_mqtt.publish("can/rx", str(m))	
    except KeyboardInterrupt:
        pass
    finally:
        bus.shutdown()

if __name__ == "__main__":
    main()