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- #!/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()
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