Добавить протокол DEIF, диагностику CAN и сохранение сессий

python/set_devices/qt_ports/candle_adapter.py

@@ -23,6 +23,8 @@ from .qt_compat import QObject, Signal
 
 _EXTENDED_ID = 0x80000000
 _FRAME_RECEIVE = 1
+_FRAME_ECHO = 2
+_FRAME_ERROR = 3
 _MODE_LISTEN_ONLY = 0x0001
 
 
@@ -160,6 +162,8 @@ class CandleAdapter(QObject):
 
     frame_received = Signal(int, bytes)
     capture_received = Signal(int, bytes, bool, bool)
+    transmit_echo = Signal(int, bytes, bool, bool)
+    bus_error = Signal(int, bytes, int)
     connection_lost = Signal(str)
 
     def __init__(self, parent: QObject | None = None) -> None:
@@ -223,7 +227,7 @@ class CandleAdapter(QObject):
         self._reader = None
         self._listen_only = False
 
-    def send(self, can_id: int, data: bytes) -> None:
+    def send(self, can_id: int, data: bytes, *, extended: bool = True) -> None:
         device = self._device
         if device is None:
             raise CandleError("Candle-адаптер не подключён")
@@ -232,7 +236,9 @@ class CandleAdapter(QObject):
         if len(data) > 8:
             raise CandleError("Classic CAN поддерживает не более 8 байт")
         frame = _Frame()
-        frame.can_id = (can_id & 0x1FFFFFFF) | _EXTENDED_ID
+        if not 0 <= can_id <= (0x1FFFFFFF if extended else 0x7FF):
+            raise CandleError("CAN ID вне диапазона")
+        frame.can_id = can_id | (_EXTENDED_ID if extended else 0)
         frame.can_dlc = len(data)
         frame.channel = self._channel
         frame.data[:len(data)] = data
@@ -250,13 +256,22 @@ class CandleAdapter(QObject):
             frame = _Frame()
             if not api.dll.candle_frame_read(device, ct.byref(frame), 50):
                 continue
-            if (api.dll.candle_frame_type(ct.byref(frame)) == _FRAME_RECEIVE
-                    and frame.channel == self._channel):
-                size = min(frame.can_dlc, 8)
+            if frame.channel != self._channel:
+                continue
+            kind = api.dll.candle_frame_type(ct.byref(frame))
+            size = min(frame.can_dlc, 8)
+            data = bytes(frame.data[:size])
+            if kind == _FRAME_ERROR or frame.flags & 0x01:
+                self.bus_error.emit(frame.can_id & 0x1FFFFFFF if kind == _FRAME_ERROR else 0,
+                                    data, frame.flags)
+            if kind == _FRAME_ECHO:
+                self.transmit_echo.emit(api.dll.candle_frame_id(ct.byref(frame)), data,
+                                        bool(frame.can_id & 0x80000000), bool(frame.can_id & 0x40000000))
+            elif kind == _FRAME_RECEIVE:
                 self.capture_received.emit(api.dll.candle_frame_id(ct.byref(frame)),
-                    bytes(frame.data[:size]), bool(frame.can_id & 0x80000000), bool(frame.can_id & 0x40000000))
+                    data, bool(frame.can_id & 0x80000000), bool(frame.can_id & 0x40000000))
                 self.frame_received.emit(api.dll.candle_frame_id(ct.byref(frame)),
-                                         bytes(frame.data[:size]))
+                                         data)
 
     def close(self) -> None:
         self.disconnect_channel()