DBC: write cycle time

cantools/database/can/formats/dbc.py

@@ -606,14 +606,27 @@ def _dump_signal_types(database):
 
     return valtype
 
+def _create_GenMsgCycleTime_definition():
+    return AttributeDefinition('GenMsgCycleTime',
+                               default_value=0,
+                               kind='BO_',
+                               type_name='INT',
+                               minimum=0,
+                               maximum=2**16-1)
 
 def _dump_attribute_definitions(database):
     ba_def = []
 
     if database.dbc is None:
-        return ba_def
+        definitions = odict()
+    else:
+        definitions = database.dbc.attribute_definitions
 
-    definitions = database.dbc.attribute_definitions
+    # define "GenMsgCycleTime" attribute for specifying the cycle
+    # times of messages if it has not been explicitly defined
+    if 'GenMsgCycleTime' not in definitions:
+        definitions['GenMsgCycleTime'] = \
+            _create_GenMsgCycleTime_definition()
 
     def get_value(definition, value):
         if definition.minimum is None:
@@ -664,9 +677,15 @@ def _dump_attribute_definition_defaults(database):
     ba_def_def = []
 
     if database.dbc is None:
-        return ba_def_def
+        definitions = odict()
+    else:
+        definitions = database.dbc.attribute_definitions
 
-    definitions = database.dbc.attribute_definitions
+    # define "GenMsgCycleTime" attribute for specifying the cycle
+    # times of messages if it has not been explicitly defined
+    if 'GenMsgCycleTime' not in definitions:
+        definitions['GenMsgCycleTime'] = \
+            _create_GenMsgCycleTime_definition()
 
     for definition in definitions.values():
         if definition.default_value is not None:
@@ -680,7 +699,6 @@ def _dump_attribute_definition_defaults(database):
 
     return ba_def_def
 
-
 def _dump_attributes(database):
     ba = []
 
@@ -695,43 +713,49 @@ def get_value(attribute):
     if database.dbc is not None:
         if database.dbc.attributes is not None:
             for attribute in database.dbc.attributes.values():
-                ba.append(
-                    'BA_ "{name}" {value};'.format(name=attribute.definition.name,
-                                                   value=get_value(attribute)))
+                ba.append(f'BA_ "{attribute.definition.name}" '
+                          f'{get_value(attribute)};')
 
     for node in database.nodes:
         if node.dbc is not None:
             if node.dbc.attributes is not None:
                 for attribute in node.dbc.attributes.values():
-                    ba.append(
-                        'BA_ "{name}" {kind} {node_name} {value};'.format(
-                            name=attribute.definition.name,
-                            kind=attribute.definition.kind,
-                            node_name=node.name,
-                            value=get_value(attribute)))
+                    ba.append(f'BA_ "{attribute.definition.name}" '
+                              f'{attribute.definition.kind} '
+                              f'{node.name} '
+                              f'{get_value(attribute)};')
 
     for message in database.messages:
-        if message.dbc is not None:
-            if message.dbc.attributes is not None:
-                for attribute in message.dbc.attributes.values():
-                    ba.append(
-                        'BA_ "{name}" {kind} {frame_id} {value};'.format(
-                            name=attribute.definition.name,
-                            kind=attribute.definition.kind,
-                            frame_id=get_dbc_frame_id(message),
-                            value=get_value(attribute)))
-
+        # retrieve the ordered dictionary of message attributes
+        msg_attributes = odict()
+        if message.dbc is not None and message.dbc.attributes is not None:
+            msg_attributes = message.dbc.attributes
+
+        # synchronize the attribute for the message cycle time with
+        # the cycle time specified by the message object
+        if message.cycle_time is None and 'GenMsgCycleTime' in msg_attributes:
+            del msg_attributes['GenMsgCycleTime']
+        elif message.cycle_time is not None:
+            msg_attributes['GenMsgCycleTime'] = \
+                Attribute(value=message.cycle_time,
+                          definition=_create_GenMsgCycleTime_definition())
+
+        # output all message attributes
+        for attribute in msg_attributes.values():
+            ba.append(f'BA_ "{attribute.definition.name}" '
+                      f'{attribute.definition.kind} '
+                      f'{get_dbc_frame_id(message)} '
+                      f'{get_value(attribute)};')
+
+        # handle the signals contained in the message
         for signal in message.signals[::-1]:
-            if signal.dbc is not None:
-                if signal.dbc.attributes is not None:
-                    for attribute in signal.dbc.attributes.values():
-                        ba.append(
-                            'BA_ "{name}" {kind} {frame_id} {signal_name} {value};'.format(
-                                name=attribute.definition.name,
-                                kind=attribute.definition.kind,
-                                frame_id=get_dbc_frame_id(message),
-                                signal_name=signal.name,
-                                value=get_value(attribute)))
+            if signal.dbc is not None and signal.dbc.attributes is not None:
+                for attribute in signal.dbc.attributes.values():
+                    ba.append(f'BA_ "{attribute.definition.name}" '
+                              f'{attribute.definition.kind} '
+                              f'{get_dbc_frame_id(message)} '
+                              f'{signal.name} '
+                              f'{get_value(attribute)};')
 
     return ba
 
@@ -1247,7 +1271,7 @@ def get_signal_initial_value(frame_id_dbc, name):
 
     def get_signal_spn(frame_id_dbc, name):
         signal_attributes = get_attributes(frame_id_dbc, name)
-        
+
         try:
             return signal_attributes['SPN'].value
         except (KeyError, TypeError):
@@ -1357,10 +1381,12 @@ def get_cycle_time(frame_id_dbc):
         message_attributes = get_attributes(frame_id_dbc)
 
         try:
-            return int(message_attributes['GenMsgCycleTime'].value)
+            result = int(message_attributes['GenMsgCycleTime'].value)
+            return None if result == 0 else result
         except (KeyError, TypeError):
             try:
-                return int(definitions['GenMsgCycleTime'].default_value)
+                result = int(definitions['GenMsgCycleTime'].default_value)
+                return None if result == 0 else result
             except (KeyError, TypeError):
                 return None
 

cantools/subparsers/list.py

@@ -15,6 +15,9 @@ def _print_message(message):
     print(f'  Size: {message.length} bytes')
     print(f'  Is extended frame: {message.is_extended_frame}')
 
+    if message.cycle_time is not None:
+        print(f'  Cycle time: {message.cycle_time} ms')
+
     if message.signals:
         print(f'  Signals:')
 

tests/files/c_source/multiplex.h

@@ -53,7 +53,7 @@ extern "C" {
 #define MULTIPLEX_MESSAGE1_IS_EXTENDED (1)
 
 /* Frame cycle times in milliseconds. */
-#define MULTIPLEX_MESSAGE1_CYCLE_TIME_MS (0u)
+
 
 /* Signal choices. */
 

tests/files/c_source/multiplex_2.h

@@ -62,10 +62,7 @@ extern "C" {
 #define MULTIPLEX_2_EXTENDED_TYPES_IS_EXTENDED (1)
 
 /* Frame cycle times in milliseconds. */
-#define MULTIPLEX_2_SHARED_CYCLE_TIME_MS (0u)
-#define MULTIPLEX_2_NORMAL_CYCLE_TIME_MS (0u)
-#define MULTIPLEX_2_EXTENDED_CYCLE_TIME_MS (0u)
-#define MULTIPLEX_2_EXTENDED_TYPES_CYCLE_TIME_MS (0u)
+
 
 /* Signal choices. */
 

tests/files/dbc/floating_point.dbc

@@ -47,8 +47,8 @@ BO_ 1025 Message2: 8 TestNode
 
 
 CM_ BU_ TestNode "";
-
-
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 65535;
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
 
 
 SIG_VALTYPE_ 1024 Signal1 : 2;

tests/files/dbc/mod_name_len_dest.dbc

@@ -46,9 +46,11 @@ CM_ BU_ node_now_short "";
 BA_DEF_ BU_  "SystemNodeLongSymbol" STRING ;
 BA_DEF_ BO_  "SystemMessageLongSymbol" STRING ;
 BA_DEF_ SG_  "SystemSignalLongSymbol" STRING ;
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 65535;
 BA_DEF_DEF_  "SystemNodeLongSymbol" "";
 BA_DEF_DEF_  "SystemMessageLongSymbol" "";
 BA_DEF_DEF_  "SystemSignalLongSymbol" "";
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
 
 
 

tests/files/dbc/motohawk.dbc

@@ -45,8 +45,8 @@ BO_ 496 ExampleMessage: 8 PCM1
 
 
 CM_ BO_ 496 "Example message used as template in MotoHawk models.";
-
-
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 65535;
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
 
 VAL_ 496 Enable 0 "Disabled" 1 "Enabled" ;
 

tests/files/dbc/multiple_senders.dbc

@@ -43,8 +43,8 @@ BO_TX_BU_ 1 : FOO,BAR,FIE;
 
 
 
-
-
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 65535;
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
 
 
 

tests/files/dbc/sig_groups.dbc

@@ -59,7 +59,9 @@ BO_ 0 NormalMsg: 8 Vector__XXX
 
 
 BA_DEF_  "BusType" STRING ;
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 65535;
 BA_DEF_DEF_  "BusType" "CAN";
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
 
 
 

tests/files/dbc/sig_groups_del.dbc

@@ -59,7 +59,9 @@ BO_ 0 NormalMsg: 8 Vector__XXX
 
 
 BA_DEF_  "BusType" STRING ;
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 65535;
 BA_DEF_DEF_  "BusType" "CAN";
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
 
 
 

tests/files/dbc/sig_groups_out.dbc

@@ -59,7 +59,9 @@ BO_ 0 NormalMsg: 8 Vector__XXX
 
 
 BA_DEF_  "BusType" STRING ;
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 65535;
 BA_DEF_DEF_  "BusType" "CAN";
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
 
 
 

tests/files/dbc/val_table.dbc

@@ -47,7 +47,9 @@ BO_ 0 Message1: 8 Vector__XXX
 
 
 BA_DEF_  "BusType" STRING ;
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 65535;
 BA_DEF_DEF_  "BusType" "";
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
 
 VAL_ 0 Signal1 1 "One" 0 "Zero" ;
 

tests/files/dbc/vehicle.dbc

@@ -1174,7 +1174,9 @@ CM_ SG_ 2303356194 Validity_Gyro_Rate_Roll "Valid when bit is set, invalid when
 CM_ SG_ 2303356194 Validity_Gyro_Rate_Pitch "Valid when bit is set, invalid when bit is clear.";
 CM_ SG_ 2303356194 Validity_Gyro_Rate_Yaw "Valid when bit is set, invalid when bit is clear.";
 BA_DEF_ SG_  "GenSigStartValue" INT -2147483648 2147483647;
+BA_DEF_ BO_  "GenMsgCycleTime" INT 0 65535;
 BA_DEF_DEF_  "GenSigStartValue" 0;
+BA_DEF_DEF_  "GenMsgCycleTime" 0;
 BA_ "GenSigStartValue" SG_ 2304279330 Validity_INS_Vel_Forwards 0;
 BA_ "GenSigStartValue" SG_ 2303355937 Accel_Vertical 16120;
 BA_ "GenSigStartValue" SG_ 2303355937 Accel_Lateral -30000;

tests/test_command_line.py

@@ -880,7 +880,7 @@ def test_dump_with_comments_mux(self):
       Destination:    0x34
       Format:         PDU 1
   Length:     8 bytes
-  Cycle time: 0 ms
+  Cycle time: - ms
   Senders:    -
   Layout:
 
@@ -1102,7 +1102,7 @@ def test_dump_j1939(self):
       Destination:    0x02
       Format:         PDU 1
   Length:     8 bytes
-  Cycle time: 0 ms
+  Cycle time: - ms
   Senders:    Node1
   Layout:
 
@@ -1144,7 +1144,7 @@ def test_dump_j1939(self):
       Destination:    All
       Format:         PDU 2
   Length:     8 bytes
-  Cycle time: 0 ms
+  Cycle time: - ms
   Senders:    Node2
   Layout:
 

tests/test_database.py

@@ -22,7 +22,7 @@
 from cantools.database.can.formats import dbc
 from cantools.database import UnsupportedDatabaseFormatError
 from cantools.database.can.signal import NamedSignalValue
-  
+
 class CanToolsDatabaseTest(unittest.TestCase):
 
     maxDiff = None
@@ -2042,9 +2042,10 @@ def test_timing(self):
         self.assertEqual(message.cycle_time, 200)
         self.assertEqual(message.send_type, 'Cyclic')
 
-        # Default message cycle time is 0, as given by BA_DEF_DEF_.
+        # Default message cycle time is None which is defined in the
+        # DBC as 0 (as given by BA_DEF_DEF_)
         message = db.get_message_by_frame_id(2)
-        self.assertEqual(message.cycle_time, 0)
+        self.assertEqual(message.cycle_time, None)
         self.assertEqual(message.send_type, 'NoMsgSendType')
 
         self.assert_dbc_dump(db, filename)
@@ -4709,7 +4710,7 @@ def test_bus_comment(self):
 
 # This file is not '__main__' when executed via 'python setup.py3
 # test'.
-logging.basicConfig(level=logging.DEBUG)
+logging.basicConfig(level=logging.WARNING)
 
 if __name__ == '__main__':
     unittest.main()

tests/test_diagnostics_database.py

@@ -494,7 +494,7 @@ def test_unknown_byteorder(self):
 
 # This file is not '__main__' when executed via 'python setup.py3
 # test'.
-logging.basicConfig()
+logging.basicConfig(level=logging.WARNING)
 
 if __name__ == '__main__':
     unittest.main()

tests/test_list.py

@@ -112,6 +112,7 @@ def test_arxml4(self):
   Frame ID: 0x6 (6)
   Size: 7 bytes
   Is extended frame: True
+  Cycle time: 200 ms
   Signals:
     signal3:
       Type: Integer
@@ -283,6 +284,7 @@ def test_kcd(self):
   Frame ID: 0x2 (2)
   Size: 4 bytes
   Is extended frame: False
+  Cycle time: 100 ms
   Signals:
     Signal1:
       Type: Integer

tests/test_plot.py

@@ -9,7 +9,9 @@
 from io import StringIO
 import cantools
 import matplotlib.pyplot
+import logging
 
+logging.basicConfig(level=logging.WARNING)
 
 class PyplotMock: