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https://github.com/cantools/cantools
CAN bus tools.
https://github.com/cantools/cantools
arxml can-bus cdd dbc kcd python sym
Last synced: 7 days ago
JSON representation
CAN bus tools.
- Host: GitHub
- URL: https://github.com/cantools/cantools
- Owner: cantools
- License: mit
- Created: 2015-04-26T08:37:47.000Z (over 9 years ago)
- Default Branch: master
- Last Pushed: 2024-05-04T06:13:41.000Z (6 months ago)
- Last Synced: 2024-05-23T06:59:35.049Z (6 months ago)
- Topics: arxml, can-bus, cdd, dbc, kcd, python, sym
- Language: Python
- Homepage:
- Size: 3.92 MB
- Stars: 1,758
- Watchers: 66
- Forks: 532
- Open Issues: 134
-
Metadata Files:
- Readme: README.rst
- Funding: .github/FUNDING.yml
- License: LICENSE
Awesome Lists containing this project
- awesome-industrial-protocols - cantools - Python library to play with CAN databases & messages (CAN / Tools)
- awesome-canbus - cantools - CAN BUS tools in Python. (Utils / Python Tools)
README
|github-actions| |coverage| |nala|
About
=====
CAN BUS tools in Python 3.
- `DBC`_, `KCD`_, SYM, ARXML 3&4 and CDD file parsing.
- CAN message encoding and decoding.
- Simple and extended signal multiplexing.
- Diagnostic DID encoding and decoding.
- ``candump`` output decoder.
- Node `tester`_.
- `C` source code generator.
- CAN bus monitor.
- Graphical plots of signals.
Project homepage: https://github.com/cantools/cantools
Documentation: https://cantools.readthedocs.io
Installation
============
.. code-block:: bash
python3 -m pip install cantools
Example usage
=============
Scripting
---------
The example starts by parsing a `small DBC-file`_ and printing its
messages and signals.
.. code-block:: python
>>> import cantools
>>> from pprint import pprint
>>> db = cantools.database.load_file('tests/files/dbc/motohawk.dbc')
>>> db.messages
[message('ExampleMessage', 0x1f0, False, 8, 'Example message used as template in MotoHawk models.')]
>>> example_message = db.get_message_by_name('ExampleMessage')
>>> pprint(example_message.signals)
[signal('Enable', 7, 1, 'big_endian', False, 1.0, 0, 0.0, 0.0, '-', False, None, {0: 'Disabled', 1: 'Enabled'}, None),
signal('AverageRadius', 6, 6, 'big_endian', False, 0.1, 0, 0.0, 5.0, 'm', False, None, None, ''),
signal('Temperature', 0, 12, 'big_endian', True, 0.01, 250, 229.53, 270.47, 'degK', False, None, None, None)]
The example continues `encoding`_ a message and sending it on a CAN
bus using the `python-can`_ package.
.. code-block:: python
>>> import can
>>> can_bus = can.interface.Bus('vcan0', bustype='socketcan')
>>> data = example_message.encode({'Temperature': 250.1, 'AverageRadius': 3.2, 'Enable': 1})
>>> message = can.Message(arbitration_id=example_message.frame_id, data=data)
>>> can_bus.send(message)
Alternatively, a message can be encoded using the `encode_message()`_
method on the database object.
The last part of the example receives and `decodes`_ a CAN message.
.. code-block:: python
>>> message = can_bus.recv()
>>> db.decode_message(message.arbitration_id, message.data)
{'AverageRadius': 3.2, 'Enable': 'Enabled', 'Temperature': 250.09}
See `examples`_ for additional examples.
Command line tool
-----------------
The decode subcommand
^^^^^^^^^^^^^^^^^^^^^
Decode CAN frames captured with the Linux program ``candump``.
.. code-block:: text
$ candump vcan0 | python3 -m cantools decode tests/files/dbc/motohawk.dbc
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 ::
ExampleMessage(
Enable: 'Enabled' -,
AverageRadius: 0.0 m,
Temperature: 255.92 degK
)
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 ::
ExampleMessage(
Enable: 'Enabled' -,
AverageRadius: 0.0 m,
Temperature: 255.92 degK
)
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 ::
ExampleMessage(
Enable: 'Enabled' -,
AverageRadius: 0.0 m,
Temperature: 255.92 degK
)
Alternatively, the decoded message can be printed on a single line:
.. code-block:: text
$ candump vcan0 | python3 -m cantools decode --single-line tests/files/dbc/motohawk.dbc
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 :: ExampleMessage(Enable: 'Enabled' -, AverageRadius: 0.0 m, Temperature: 255.92 degK)
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 :: ExampleMessage(Enable: 'Enabled' -, AverageRadius: 0.0 m, Temperature: 255.92 degK)
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 :: ExampleMessage(Enable: 'Enabled' -, AverageRadius: 0.0 m, Temperature: 255.92 degK)
The plot subcommand
^^^^^^^^^^^^^^^^^^^
The plot subcommand is similar to the decode subcommand but messages are visualized using `matplotlib`_ instead of being printed to stdout.
.. code-block:: bash
$ candump -l vcan0
$ cat candump-2021-01-04_180521.log
(1609779922.655421) vcan0 00000343#B204B9049C049C04
(1609779922.655735) vcan0 0000024A#120527052E051905
(1609779923.657524) vcan0 00000343#C404C404CB04C404
(1609779923.658086) vcan0 0000024A#8B058B058B059205
(1609779924.659912) vcan0 00000343#5C04790479045504
(1609779924.660471) vcan0 0000024A#44064B0659064406
(1609779925.662277) vcan0 00000343#15040704F203F203
(1609779925.662837) vcan0 0000024A#8B069906A706A706
(1609779926.664191) vcan0 00000343#BC03B503A703BC03
(1609779926.664751) vcan0 0000024A#A006A706C406C406
$ cat candump-2021-01-04_180521.log | python3 -m cantools plot tests/files/dbc/abs.dbc
.. image:: https://github.com/cantools/cantools/raw/master/docs/plot-1.png
If you don't want to show all signals you can select the desired signals with command line arguments.
A ``*`` can stand for any number of any character, a ``?`` for exactly one arbitrary character.
Signals separated by a ``-`` are displayed in separate subplots.
Optionally a format can be specified after a signal, separated by a colon.
.. code-block:: bash
$ cat candump-2021-01-04_180521.log | python3 -m cantools plot tests/files/dbc/abs.dbc '*33.*fl:-<' '*33.*fr:->' - '*33.*rl:-<' '*33.*rr:->'
.. image:: https://github.com/cantools/cantools/raw/master/docs/plot-2-subplots.png
Signals with a different range of values can be displayed in the same subplot on different vertical axes by separating them with a comma.
.. code-block:: bash
$ cat candump-2021-01-04_180521.log | cantools plot --auto-color tests/files/dbc/abs.dbc -- \
--ylabel 'Bremse 33' '*_33.*fl*:-<' '*_33.*fr*:>' '*_33.*rl*:3' '*_33.*rr*:4' , \
--ylabel 'Bremse 2' '*_2.*fl*:-<' '*_2.*fr*:>' '*_2.*rl*:3' '*_2.*rr*:4'
.. image:: https://github.com/cantools/cantools/raw/master/docs/plot-2-axes.png
Matplotlib comes with different preinstalled styles that you can use:
.. code-block:: bash
$ cat candump-2021-01-04_180521.log | cantools plot tests/files/dbc/abs.dbc --style seaborn
.. image:: https://github.com/cantools/cantools/raw/master/docs/plot-seaborn.png
You can try all available styles with
.. code-block:: bash
$ cantools plot --list-styles . | sed -n '/^- /s/^- //p' | while IFS= read -r style; do
cat candump-2021-01-04_180521.log | cantools plot tests/files/dbc/abs.dbc --style "$style" --title "--style '$style'"
done
For more information see
.. code-block:: bash
$ python3 -m cantools plot --help
Note that by default matplotlib is not installed with cantools. But it can be by specifying an extra
at installation:
.. code-block:: bash
$ python3 -m pip install cantools[plot]
The dump subcommand
^^^^^^^^^^^^^^^^^^^
Dump given database in a human readable format:
.. code-block:: text
$ python3 -m cantools dump tests/files/dbc/motohawk.dbc
================================= Messages =================================
------------------------------------------------------------------------
Name: ExampleMessage
Id: 0x1f0
Length: 8 bytes
Cycle time: - ms
Senders: PCM1
Layout:
Bit
7 6 5 4 3 2 1 0
+---+---+---+---+---+---+---+---+
0 |<-x|<---------------------x|<--|
+---+---+---+---+---+---+---+---+
| +-- AverageRadius
+-- Enable
+---+---+---+---+---+---+---+---+
1 |-------------------------------|
+---+---+---+---+---+---+---+---+
2 |----------x| | | | | |
B +---+---+---+---+---+---+---+---+
y +-- Temperature
t +---+---+---+---+---+---+---+---+
e 3 | | | | | | | | |
+---+---+---+---+---+---+---+---+
4 | | | | | | | | |
+---+---+---+---+---+---+---+---+
5 | | | | | | | | |
+---+---+---+---+---+---+---+---+
6 | | | | | | | | |
+---+---+---+---+---+---+---+---+
7 | | | | | | | | |
+---+---+---+---+---+---+---+---+
Signal tree:
-- {root}
+-- Enable
+-- AverageRadius
+-- Temperature
Signal choices:
Enable
0 Disabled
1 Enabled
------------------------------------------------------------------------
The list subcommand
^^^^^^^^^^^^^^^^^^^
Print all information of a given database in a human readable
format. This is very similar to the "dump" subcommand, but the output
is less pretty, slightly more comprehensive and easier to parse by
shell scripts:
.. code-block:: bash
$ python3 -m cantools list -a tests/files/dbc/motohawk.dbc
ExampleMessage:
Comment[None]: Example message used as template in MotoHawk models.
Frame ID: 0x1f0 (496)
Size: 8 bytes
Is extended frame: False
Signals:
Enable:
Type: Integer
Start bit: 7
Length: 1 bits
Unit: -
Is signed: False
Named values:
0: Disabled
The generate C source subcommand
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Generate `C` source code from given database.
The generated code contains:
- Message `structs`_.
- Message `pack`_ and `unpack`_ functions.
- Signal `encode`_ and `decode`_ functions.
- Frame id, length, type, cycle time and signal choices `defines`_.
Known limitations:
- The maximum signal size is 64 bits, which in practice is never
exceeded.
Below is an example of how to generate C source code from a
database. The database is ``tests/files/dbc/motohawk.dbc``.
.. code-block:: text
$ python3 -m cantools generate_c_source tests/files/dbc/motohawk.dbc
Successfully generated motohawk.h and motohawk.c.
See `motohawk.h`_ and `motohawk.c`_ for the contents of the generated
files.
In this example we use ``--use-float`` so floating point numbers in the generated
code are single precision (``float``) instead of double precision (``double``).
.. code-block:: text
$ python3 -m cantools generate_c_source --use-float tests/files/dbc/motohawk.dbc
Successfully generated motohawk.h and motohawk.c.
In the next example we use ``--database-name`` to set a custom
namespace for all generated types, defines and functions. The output
file names are also changed by this option.
.. code-block:: text
$ python3 -m cantools generate_c_source --database-name my_database_name tests/files/dbc/motohawk.dbc
Successfully generated my_database_name.h and my_database_name.c.
See `my_database_name.h`_ and `my_database_name.c`_ for the contents
of the generated files.
In the next example we use ``--no-floating-point-numbers`` to generate
code without floating point types, i.e. ``float`` and ``double``.
.. code-block:: text
$ python3 -m cantools generate_c_source --no-floating-point-numbers tests/files/dbc/motohawk.dbc
Successfully generated motohawk.h and motohawk.c.
See `motohawk_no_floating_point_numbers.h`_ and
`motohawk_no_floating_point_numbers.c`_ for the contents of the
generated files.
In the last example ``--node`` is used to generate
message pack functions only for messages sent by the specified node and unpack
functions only for messages with its signal receivers belonging to that node.
.. code-block:: text
$ cantools generate_c_source tests/files/dbc/motohawk.dbc --node PCM1
Successfully generated motohawk.h and motohawk.c.
See `motohawk_sender_node.h`_ and
`motohawk_sender_node.c`_ for the contents of the
generated files.
Other C code generators:
- http://www.coderdbc.com
- https://github.com/howerj/dbcc
- https://github.com/lonkamikaze/hsk-libs/blob/master/scripts/dbc2c.awk
- https://sourceforge.net/projects/comframe/
The monitor subcommand
^^^^^^^^^^^^^^^^^^^^^^
Monitor CAN bus traffic in a text based user interface.
.. code-block:: text
$ python3 -m cantools monitor tests/files/dbc/motohawk.dbc
.. image:: https://github.com/cantools/cantools/raw/master/docs/monitor.png
The menu at the bottom of the monitor shows the available commands.
- Quit: Quit the monitor. Ctrl-C can be used as well.
- Filter: Only display messages matching given regular
expression. Press to return to the menu from the filter
input line.
- Play/Pause: Toggle between playing and paused (or running and freezed).
- Reset: Reset the monitor to its initial state.
Contributing
============
#. Fork the repository.
#. Install prerequisites.
.. code-block:: text
python3 -m pip install -e .[dev]
#. Implement the new feature or bug fix.
#. Implement test case(s) to ensure that future changes do not break
legacy.
#. Run the linters
.. code-block:: text
ruff check src
mypy src
#. Run the tests.
.. code-block:: text
tox -e py
#. Create a pull request.
.. |github-actions| image:: https://github.com/cantools/cantools/actions/workflows/pythonpackage.yml/badge.svg?branch=master
:target: https://github.com/cantools/cantools/actions/workflows/pythonpackage.yml
:alt: Github Actions workflow status
.. |coverage| image:: https://coveralls.io/repos/github/cantools/cantools/badge.svg?branch=master
:target: https://coveralls.io/github/cantoolscantools?branch=master
:alt: Test coverage reports on Coveralls.io
.. |nala| image:: https://img.shields.io/badge/nala-test-blue.svg
:target: https://github.com/cantools/nala
.. _small DBC-file: https://github.com/cantools/cantools/blob/master/tests/files/dbc/motohawk.dbc
.. _motohawk.dbc: https://github.com/cantools/cantools/blob/master/tests/files/dbc/motohawk.dbc
.. _python-can: https://python-can.readthedocs.io/en/master/
.. _DBC: http://www.socialledge.com/sjsu/index.php?title=DBC_Format
.. _KCD: https://github.com/julietkilo/kcd
.. _tester: http://cantools.readthedocs.io/en/latest/#cantools.tester.Tester
.. _encoding: http://cantools.readthedocs.io/en/latest/#cantools.database.can.Message.encode
.. _encode_message(): http://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.encode_message
.. _decodes: http://cantools.readthedocs.io/en/latest/#cantools.database.can.Database.decode_message
.. _examples: https://github.com/cantools/cantools/blob/master/examples
.. _structs: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk.h#L58
.. _pack: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk.h#L88
.. _unpack: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk.h#L102
.. _encode: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk.h#L116
.. _decode: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk.h#L125
.. _defines: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk.h#L42
.. _motohawk.h: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk.h
.. _motohawk.c: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk.c
.. _my_database_name.h: https://github.com/cantools/cantools/blob/master/tests/files/c_source/my_database_name.h
.. _my_database_name.c: https://github.com/cantools/cantools/blob/master/tests/files/c_source/my_database_name.c
.. _motohawk_no_floating_point_numbers.h: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk_no_floating_point_numbers.h
.. _motohawk_no_floating_point_numbers.c: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk_no_floating_point_numbers.c
.. _motohawk_sender_node.h: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk_sender_node.h
.. _motohawk_sender_node.c: https://github.com/cantools/cantools/blob/master/tests/files/c_source/motohawk_sender_node.c
.. _matplotlib: https://matplotlib.org/