new python bindings

bin/rs-canopen-dump.c

@@ -36,8 +36,6 @@
 int
 main(int argc, char **argv)
 {
-    struct sockaddr_can addr;
-    struct ifreq ifr;
     struct can_frame can_frame;
     canopen_frame_t canopen_frame;
     int sock, bytes_read;
@@ -49,30 +47,14 @@ main(int argc, char **argv)
     }
 
     /* Create the socket */
-    if ((sock = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
+    if ((sock = can_socket_open(argv[1])) < 0)
     {
         fprintf(stderr, "Error: Failed to create socket.\n");
         return -1;
     }
 
-    /* Locate the interface you wish to use */
-    strcpy(ifr.ifr_name, argv[1]);
-    ioctl(sock, SIOCGIFINDEX, &ifr); /* ifr.ifr_ifindex gets filled 
-                                      * with that device's index */
-                                     // XXX add check
+    printf("sizeof can_frame = %d\n", sizeof(struct can_frame));
 
-    /* Select that CAN interface, and bind the socket to it. */
-    addr.can_family = AF_CAN;
-    addr.can_ifindex = ifr.ifr_ifindex;
-    bind(sock, (struct sockaddr*)&addr, sizeof(addr)); // XXX Add check
-
-    /* Send a message to the CAN bus * /
-    frame.can_id = 0x123;
-    strcpy(frame.data, "foo");
-    frame.can_dlc = strlen(frame.data);
-    int bytes_sent = write(sock, &frame, sizeof(frame));
-    */
-
     while (1)
     {
 

canopen/Makefile.am

@@ -13,7 +13,7 @@ VERSION		= @VERSION@
 
 AM_CPPFLAGS	= -I$(top_builddir) -I$(top_srcdir)
 
-pkginclude_HEADERS = canopen.h canopen-com.h 
+pkginclude_HEADERS = canopen.h canopen-com.h can-if.h
 lib_LTLIBRARIES	   = libcanopen.la
-libcanopen_la_SOURCES = canopen.c canopen-com.c 
+libcanopen_la_SOURCES = canopen.c canopen-com.c can-if.c
 

canopen/Makefile.in

@@ -89,7 +89,7 @@ am__uninstall_files_from_dir = { \
 am__installdirs = "$(DESTDIR)$(libdir)" "$(DESTDIR)$(pkgincludedir)"
 LTLIBRARIES = $(lib_LTLIBRARIES)
 libcanopen_la_LIBADD =
-am_libcanopen_la_OBJECTS = canopen.lo canopen-com.lo
+am_libcanopen_la_OBJECTS = canopen.lo canopen-com.lo can-if.lo
 libcanopen_la_OBJECTS = $(am_libcanopen_la_OBJECTS)
 DEFAULT_INCLUDES = -I.@am__isrc@ -I$(top_builddir)
 depcomp = $(SHELL) $(top_srcdir)/depcomp
@@ -224,9 +224,9 @@ top_build_prefix = @top_build_prefix@
 top_builddir = @top_builddir@
 top_srcdir = @top_srcdir@
 AM_CPPFLAGS = -I$(top_builddir) -I$(top_srcdir)
-pkginclude_HEADERS = canopen.h canopen-com.h 
+pkginclude_HEADERS = canopen.h canopen-com.h can-if.h
 lib_LTLIBRARIES = libcanopen.la
-libcanopen_la_SOURCES = canopen.c canopen-com.c 
+libcanopen_la_SOURCES = canopen.c canopen-com.c can-if.c
 all: all-am
 
 .SUFFIXES:
@@ -301,6 +301,7 @@ mostlyclean-compile:
 distclean-compile:
 	-rm -f *.tab.c
 
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/can-if.Plo@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/canopen-com.Plo@am__quote@
 @AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/canopen.Plo@am__quote@
 

canopen/can-if.c

@@ -0,0 +1,70 @@
+//------------------------------------------------------------------------------
+// Copyright (C) 2012, Robert Johansson <rob@raditex.nu>, Raditex Control AB
+// All rights reserved.
+//
+// This file is part of the rSCADA system.
+//
+// rSCADA 
+// http://www.rSCADA.se
+// info@rscada.se
+//
+//------------------------------------------------------------------------------
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <unistd.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#include <stdio.h> 
+#include <string.h>
+#include <strings.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include <canopen/can-if.h>
+
+int
+can_socket_open(char *interface)
+{
+    struct sockaddr_can addr;
+    struct ifreq ifr;
+    int sock, bytes_read;
+
+    /* Create the socket */
+    if ((sock = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
+    {
+        fprintf(stderr, "Error: Failed to create socket.\n");
+        return -1;
+    }
+
+    /* Locate the interface you wish to use */
+    strcpy(ifr.ifr_name, interface);
+    ioctl(sock, SIOCGIFINDEX, &ifr); /* ifr.ifr_ifindex gets filled 
+                                      * with that device's index */
+                                     // XXX add check
+
+    /* Select that CAN interface, and bind the socket to it. */
+    addr.can_family = AF_CAN;
+    addr.can_ifindex = ifr.ifr_ifindex;
+    bind(sock, (struct sockaddr*)&addr, sizeof(addr)); // XXX Add check
+
+    /* Send a message to the CAN bus * /
+    frame.can_id = 0x123;
+    strcpy(frame.data, "foo");
+    frame.can_dlc = strlen(frame.data);
+    int bytes_sent = write(sock, &frame, sizeof(frame));
+    */
+
+    return sock;
+}
+
+
+int
+can_socket_close(int socket)
+{
+    return close(socket);
+}

canopen/can-if.h

@@ -0,0 +1,35 @@
+//------------------------------------------------------------------------------
+// Copyright (C) 2012, Robert Johansson <rob@raditex.nu>, Raditex Control AB
+// All rights reserved.
+//
+// This file is part of the rSCADA system.
+//
+// rSCADA 
+// http://www.rSCADA.se
+// info@rscada.se
+//
+//------------------------------------------------------------------------------
+
+// 
+// CANopen communication routines and data types.
+//
+
+#ifndef _CAN_IF_H_
+#define _CAN_IF_H_
+
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <net/if.h>
+#include <unistd.h>
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#include <string.h>
+#include <stdint.h> 
+
+int can_socket_open();
+int can_socket_close(int socket);
+
+#endif /* _CAN_IF_H */

libcanopen.pc

@@ -0,0 +1,12 @@
+prefix=/usr/local
+exec_prefix=${prefix}
+libdir=${exec_prefix}/lib
+includedir=${prefix}/include
+
+Name: libcanopen
+Description: Open source CANopen library for Linux SocketCAN.
+Requires: 
+Version: 0.1.0
+URL: http://www.rscada.se/libcanopen/
+Libs: -L${libdir} -lcanopen
+Cflags: -I${includedir}

python/canopen-dump.py

@@ -0,0 +1,40 @@
+#!/usr/bin/python
+# ------------------------------------------------------------------------------
+# Copyright (C) 2012, Robert Johansson <rob@raditex.nu>, Raditex Control AB
+# All rights reserved.
+#
+# This file is part of the rSCADA system.
+#
+# rSCADA 
+# http://www.rSCADA.se
+# info@rscada.se
+# ------------------------------------------------------------------------------
+
+"""
+Read CAN frame, parse into CANopen frame, and dump to STDOUT.
+"""
+
+from pyCANopen import *
+
+canopen = CANopen()
+
+while True:
+    canopen_frame = canopen.read_frame()
+    if canopen_frame:
+        print canopen_frame
+    else:
+        print("CANopen Frame parse error")
+
+#while True:
+#    can_frame = canopen.read_can_frame()
+#    if can_frame:
+#        print can_frame
+#    else:
+#        print("CAN Frame parse error")
+#        continue
+#    canopen_frame = canopen.parse_can_frame(can_frame)
+#    if canopen_frame:
+#        print canopen_frame
+#    else:
+#        print("CANopen Frame parse error")
+

python/canopen-node-info.py

@@ -0,0 +1,31 @@
+#!/usr/bin/python
+# ------------------------------------------------------------------------------
+# Copyright (C) 2012, Robert Johansson <rob@raditex.nu>, Raditex Control AB
+# All rights reserved.
+#
+# This file is part of the rSCADA system.
+#
+# rSCADA 
+# http://www.rSCADA.se
+# info@rscada.se
+# ------------------------------------------------------------------------------
+
+"""
+Read node info from a CANopen node
+"""
+
+from pyCANopen import *
+
+canopen = CANopen()
+
+node = 5
+
+value = canopen.SDOUploadExp(node, 0x1018, 0x01)
+print("Vendor  ID   = 0x%.8X\n" % value)
+
+value = canopen.SDOUploadExp(node, 0x1018, 0x02)
+print("Product ID   = 0x%.8X\n" % value)
+
+value = canopen.SDOUploadExp(node, 0x1018, 0x03)
+print("Software Ver = 0x%.8X\n" % value)
+

python/pyCANopen.py

@@ -0,0 +1,120 @@
+#!/usr/bin/python
+# ------------------------------------------------------------------------------
+# Copyright (C) 2012, Robert Johansson <rob@raditex.nu>, Raditex Control AB
+# All rights reserved.
+#
+# This file is part of the rSCADA system.
+#
+# rSCADA 
+# http://www.rSCADA.se
+# info@rscada.se
+# ------------------------------------------------------------------------------
+
+"""
+Python bindings for rSCADA libCANopen.
+"""
+
+from ctypes import *
+
+libcanopen = cdll.LoadLibrary('libcanopen.so')
+libc = cdll.LoadLibrary('libc.so.6')
+
+class CANFrame(Structure):
+    _fields_ = [("can_id",  c_uint32),
+                ("can_dlc", c_uint8),
+                ("align",   c_uint8 * 3), # hardcoded alignment to match C struct
+                ("data",    c_uint8 * 8)]
+
+    def __str__(self):
+        data_str = " ".join(["%.2x" % (x,) for x in self.data])
+        return "CAN Frame: ID=%.2x DLC=%.2x DATA=[%s]" % (self.can_id, self.can_dlc, data_str)
+
+class CANopenFrame(Structure):
+    _fields_ = [("rtr",           c_uint8),
+                ("function_code", c_uint8),
+                ("type",          c_uint8),
+                ("id",            c_uint32),
+                ("data",          c_uint8 * 8), # should be a union...
+                ("data_len",      c_uint8)]
+
+    def __str__(self):
+        data_str = " ".join(["%.2x" % (x,) for x in self.data])    
+        return "CANopen Frame: RTR=%d FC=0x%.2x ID=0x%.2x [len=%d] %s" % (self.rtr, self.function_code, self.id, self.data_len, data_str)
+
+class CANopen:
+
+    def __init__(self, interface="can0"):
+        """
+        Constructor for CANopen class. Optionally takes an interface 
+        name for which to bind a socket to. Defaults to interface "can0"
+        """
+        self.sock = libcanopen.can_socket_open(interface)
+
+    def open(self, interface):
+        """
+        Open a new socket. If open socket already exist, close it first.
+        """        
+        if self.sock:
+            self.close()
+        self.sock = libcanopen.can_socket_open(interface)
+
+    def close(self):
+        """
+        Close the socket associated with this class instance.
+        """
+        if self.sock:
+            libcanopen.can_socket_close(self.sock)
+            self.sock = None
+
+    def read_can_frame(self):
+        """
+        Low-level function: Read a CAN frame from socket.
+        """
+        if self.sock:
+            can_frame = CANFrame()
+            if libc.read(self.sock, byref(can_frame), c_int(16)) != 16:
+                raise "CAN frame read error"
+            return can_frame
+        else:
+            raise "CAN fram read error: socket not connected"
+
+    def parse_can_frame(self, can_frame):
+        """
+        Low level function: Parse a given CAN frame into CANopen frame
+        """
+        canopen_frame = CANopenFrame()        
+        if libcanopen.canopen_frame_parse(byref(canopen_frame), byref(can_frame)) == 0:
+            return canopen_frame
+        else:
+            raise "CANopen Frame parse error"
+
+    def read_frame(self):
+        """
+        Read a CANopen frame from socket. First read a CAN frame, then parse
+        into a CANopen frame and return it.
+        """
+        can_frame = self.read_can_frame()
+        if not can_frame:
+            raise "CAN Frame read error"
+
+        canopen_frame = self.parse_can_frame(can_frame)
+        if not canopen_frame:
+            raise "CANopen Frame parse error"
+
+        return canopen_frame
+
+
+    #---------------------------------------------------------------------------
+    # SDO related functions
+    #
+
+    def SDOUploadExp(self, node, index, subindex):
+        """
+        Expediated SDO upload
+        """
+        res = c_uint32()
+        libcanopen.canopen_sdo_upload_exp(self.sock, c_uint8(node), c_uint16(index), c_uint8(subindex), byref(res))
+        return res.value
+
+
+