ThingSet_CAN Class

thingset/thingset_can.py

@@ -0,0 +1,140 @@
+import threading, time, datetime
+from thingset.cansocket import CANsocket
+from thingset.packet import RequestFrame
+from cbor2 import loads, dumps
+
+class ThingSet_CAN(threading.Thread):
+
+    __response = None
+    __own_id = int()
+    __pub_callback = None
+
+    data = dict()
+
+    def __init__(self, if_name:str, own_id:int):
+        super().__init__()
+        if own_id not in range(0,256):
+            raise ValueError("Address must be integer between 0 and 255 (got: {})".format(own_id))
+        self.__own_id = own_id
+        self.__sock = CANsocket(if_name, self.__own_id)  # or other interface
+
+    def setPubCallback(self, callback):
+        if hasattr(callback, '__call__'):
+            self.__pub_callback = callback
+
+    def subscribe(self, addr:int):
+        self.data[addr] = {}
+        self.__sock.subscribe(addr)
+
+    def get(self, addr:int, id:int):
+        '''Retrieve all data from a path'''
+        ret = None
+        if addr not in range(0,256):
+            raise ValueError("Address must be integer between 0 and 255 (got: {})".format(addr))
+        data = bytearray(b'\x01')
+        data.extend(dumps(id))
+        frame = RequestFrame(src=self.__own_id, dst=addr, data=bytes(data))
+        self.__sock.send(frame)
+        if self.__waitResponse(0.5):
+            ret = self.__getResponse()
+        else:
+            print("GET Timeout!")
+        return ret
+
+    def post(self, addr:int, id:int, data):
+        '''Append data to an object or execute a function'''
+        ret = None
+        if addr not in range(0,256):
+            raise ValueError("Address must be integer between 0 and 255 (got: {})".format(addr))
+        frame_data = bytearray(b'\x02')
+        frame_data.extend(dumps(id))
+        frame_data.extend(dumps(data))
+        frame = RequestFrame(src=self.__own_id, dst=addr, data=bytes(frame_data))
+        self.__sock.send(frame)
+        if self.__waitResponse(0.5):
+            ret = self.__getResponse()
+        else:
+            print("POST Timeout!")
+        return ret
+
+    def delete(self, addr:int, data):
+        '''Delete data from an object'''
+        ret = None
+        if addr not in range(0,256):
+            raise ValueError("Address must be integer between 0 and 255 (got: {})".format(addr))
+        frame_data = bytearray(b'\x04')
+        frame_data.extend(dumps(data))
+        frame = RequestFrame(src=self.__own_id, dst=addr, data=bytes(frame_data))
+        self.__sock.send(frame)
+        if self.__waitResponse(0.5):
+            ret = self.__getResponse()
+        else:
+            print("DELETE Timeout!")
+        return ret
+
+    def fetch(self, addr:int, path_id:int, array:list):
+        '''Retrieve a subset of data from a path'''
+        ret = None
+        if addr not in range(0,256):
+            raise ValueError("Address must be integer between 0 and 255 (got: {})".format(addr))
+        data = bytearray(b'\x05')
+        data.extend(dumps(path_id))
+        data.extend(dumps(array))
+        frame = RequestFrame(src=self.__own_id, dst=addr, data=bytes(data))
+        self.__sock.send(frame)
+        if self.__waitResponse(1.5):
+            ret = self.__getResponse()
+        else:
+            print("FETCH Timeout!")
+        return ret
+
+    def patch(self, addr: int, obj_id: int, map:dict):
+        '''Update (overwrite) data of a path'''
+        ret = None
+        if addr not in range(0,256):
+            raise ValueError("Address must be integer between 0 and 255 (got: {})".format(addr))
+        data = bytearray(b'\x07')
+        data.extend(dumps(obj_id))
+        data.extend(dumps(map))
+        self.__sock.send(RequestFrame(src=self.__own_id, dst=addr, data=bytes(data)))
+        if self.__waitResponse():
+            ret = self.__getResponse()
+        else:
+            print("PATCH Timeout!")
+
+        return ret
+
+    def __waitResponse(self, timeout:float=1.5):
+        '''Wait for response and return False on Timeout and True on Success'''
+        ret = bool(False)
+        timeout = datetime.datetime.now() + datetime.timedelta(seconds=timeout)
+        while datetime.datetime.now() <= timeout:
+            if self.__response != None:
+                ret = True
+                break
+        return ret
+
+    def __getResponse(self):
+        '''Returns Response Code/Response Data'''
+        status, data = self.__response
+        self.__response = None
+        if data == None:
+            ret = status
+        else:
+            ret = data
+        return ret
+
+    def receive(self):
+        '''Reception Thread Function'''
+        while True:
+            rx = self.__sock.receive()
+            if rx != None:
+                pub_frame, status, data, src_id = rx
+                if pub_frame == True:
+                    id = status
+                    self.data[src_id].update({id: data})
+                    if self.__pub_callback != None:
+                        self.__pub_callback(src_id, id, data)
+                else:
+                    self.__response = (status, data)
+