Merge branch 'asc-writer-canfd' into develop

Author: felixdivo

can/io/asc.py

@@ -56,32 +56,27 @@ def __iter__(self):
             temp = line.strip()
             if not temp or not temp[0].isdigit():
                 continue
-
             try:
                 timestamp, channel, dummy = temp.split(
                     None, 2
                 )  # , frameType, dlc, frameData
             except ValueError:
                 # we parsed an empty comment
                 continue
-
             timestamp = float(timestamp)
             try:
                 # See ASCWriter
                 channel = int(channel) - 1
             except ValueError:
                 pass
-
             if dummy.strip()[0:10].lower() == "errorframe":
                 msg = Message(timestamp=timestamp, is_error_frame=True, channel=channel)
                 yield msg
-
             elif (
                 not isinstance(channel, int)
                 or dummy.strip()[0:10].lower() == "statistic:"
             ):
                 pass
-
             elif dummy[-1:].lower() == "r":
                 can_id_str, _ = dummy.split(None, 1)
                 can_id_num, is_extended_id = self._extract_can_id(can_id_str)
@@ -93,7 +88,6 @@ def __iter__(self):
                     channel=channel,
                 )
                 yield msg
-
             else:
                 try:
                     # this only works if dlc > 0 and thus data is availabe
@@ -103,13 +97,11 @@ def __iter__(self):
                     can_id_str, _, _, dlc = dummy.split(None, 3)
                     # and we set data to an empty sequence manually
                     data = ""
-
                 dlc = int(dlc)
                 frame = bytearray()
                 data = data.split()
                 for byte in data[0:dlc]:
                     frame.append(int(byte, 16))
-
                 can_id_num, is_extended_id = self._extract_can_id(can_id_str)
 
                 yield Message(
@@ -121,7 +113,6 @@ def __iter__(self):
                     data=frame,
                     channel=channel,
                 )
-
         self.stop()
 
 
@@ -135,6 +126,27 @@ class ASCWriter(BaseIOHandler, Listener):
     """
 
     FORMAT_MESSAGE = "{channel}  {id:<15} Rx   {dtype} {data}"
+    FORMAT_MESSAGE_FD = " ".join(
+        [
+            "CANFD",
+            "{channel:>3}",
+            "{dir:<4}",
+            "{id:>8}  {symbolic_name:>32}",
+            "{brs}",
+            "{esi}",
+            "{dlc}",
+            "{data_length:>2}",
+            "{data}",
+            "{message_duration:>8}",
+            "{message_length:>4}",
+            "{flags:>8X}",
+            "{crc:>8}",
+            "{bit_timing_conf_arb:>8}",
+            "{bit_timing_conf_data:>8}",
+            "{bit_timing_conf_ext_arb:>8}",
+            "{bit_timing_conf_ext_data:>8}",
+        ]
+    )
     FORMAT_DATE = "%a %b %m %I:%M:%S.{} %p %Y"
     FORMAT_EVENT = "{timestamp: 9.6f} {message}\n"
 
@@ -175,7 +187,6 @@ def log_event(self, message, timestamp=None):
         if not message:  # if empty or None
             logger.debug("ASCWriter: ignoring empty message")
             return
-
         # this is the case for the very first message:
         if not self.header_written:
             self.last_timestamp = timestamp or 0.0
@@ -187,15 +198,12 @@ def log_event(self, message, timestamp=None):
             self.file.write("Begin Triggerblock %s\n" % formatted_date)
             self.header_written = True
             self.log_event("Start of measurement")  # caution: this is a recursive call!
-
         # Use last known timestamp if unknown
         if timestamp is None:
             timestamp = self.last_timestamp
-
         # turn into relative timestamps if necessary
         if timestamp >= self.started:
             timestamp -= self.started
-
         line = self.FORMAT_EVENT.format(timestamp=timestamp, message=message)
         self.file.write(line)
 
@@ -204,27 +212,49 @@ def on_message_received(self, msg):
         if msg.is_error_frame:
             self.log_event("{}  ErrorFrame".format(self.channel), msg.timestamp)
             return
-
         if msg.is_remote_frame:
             dtype = "r"
             data = []
         else:
             dtype = "d {}".format(msg.dlc)
             data = ["{:02X}".format(byte) for byte in msg.data]
-
         arb_id = "{:X}".format(msg.arbitration_id)
         if msg.is_extended_id:
             arb_id += "x"
-
         channel = channel2int(msg.channel)
         if channel is None:
             channel = self.channel
         else:
             # Many interfaces start channel numbering at 0 which is invalid
             channel += 1
-
-        serialized = self.FORMAT_MESSAGE.format(
-            channel=channel, id=arb_id, dtype=dtype, data=" ".join(data)
-        )
-
+        if msg.is_fd:
+            flags = 0
+            flags |= 1 << 12
+            if msg.bitrate_switch:
+                flags |= 1 << 13
+            if msg.error_state_indicator:
+                flags |= 1 << 14
+            serialized = self.FORMAT_MESSAGE_FD.format(
+                channel=channel,
+                id=arb_id,
+                dir="Rx",
+                symbolic_name="",
+                brs=1 if msg.bitrate_switch else 0,
+                esi=1 if msg.error_state_indicator else 0,
+                dlc=msg.dlc,
+                data_length=len(data),
+                data=" ".join(data),
+                message_duration=0,
+                message_length=0,
+                flags=flags,
+                crc=0,
+                bit_timing_conf_arb=0,
+                bit_timing_conf_data=0,
+                bit_timing_conf_ext_arb=0,
+                bit_timing_conf_ext_data=0,
+            )
+        else:
+            serialized = self.FORMAT_MESSAGE.format(
+                channel=channel, id=arb_id, dtype=dtype, data=" ".join(data)
+            )
         self.log_event(serialized, msg.timestamp)