v0.1.5 add periodic messages

README.md

@@ -146,6 +146,42 @@ await dev.set_terminator(channel=2, enabled=False)
 
 ````
 
+## Отправка периодичных сообщений:
+С константными данными
+````python
+from carbus_async import PeriodicCanSender
+
+sender = PeriodicCanSender(dev)
+sender.add(
+    "heartbeat",
+    channel=1,
+    can_id=0x123,
+    data=b"\x01\x02\x03\x04\x05\x06\x07\x08",
+    period_s=0.1,
+)
+````
+
+С модификацией данных
+````python
+from carbus_async import PeriodicCanSender
+
+sender = PeriodicCanSender(dev)
+
+def mod(tick, data):
+    b = bytearray(data)
+    b[0] = tick & 0xFF
+    return bytes(b)
+
+sender.add(
+    "cnt",
+    channel=1,
+    can_id=0x100,
+    data=b"\x00" * 8,
+    period_s=0.5,
+    modify=mod)
+````
+
+
 ## Хуки подписка на сообщение / сообщение + данные по маске:
 Подписка по CAN ID
 ````python

carbus_async/__init__.py

@@ -2,6 +2,7 @@ from .device import CarBusDevice
 from .messages import CanMessage, MessageDirection
 from .exceptions import CarBusError, CommandError, SyncError
 from .can_router import CanIdRouter, RoutedCarBusCanTransport
+from .periodic import PeriodicCanSender, PeriodicJob
 
 __all__ = [
     "CarBusDevice",
@@ -12,4 +13,6 @@ __all__ = [
     "SyncError",
     "CanIdRouter",
     "RoutedCarBusCanTransport",
+    "PeriodicCanSender",
+    "PeriodicJob",
 ]

carbus_async/periodic.py

@@ -0,0 +1,139 @@
+from __future__ import annotations
+
+import asyncio
+import time
+from dataclasses import dataclass
+from typing import Awaitable, Callable, Optional, Union
+
+from .messages import CanMessage
+from .device import CarBusDevice
+
+ModifyFn = Callable[[int, bytes], Union[bytes, Awaitable[bytes]]]
+
+
+@dataclass
+class PeriodicJob:
+    name: str
+    can_id: int
+    data: bytes
+    period_s: float
+    channel: int = 1
+    extended: bool = False
+    fd: bool = False
+    brs: bool = False
+    rtr: bool = False
+    echo: bool = False
+    confirm: bool = False
+    modify: Optional[ModifyFn] = None
+
+    _task: Optional[asyncio.Task] = None
+    _stop: asyncio.Event = asyncio.Event()
+
+    def start(self, dev: CarBusDevice) -> None:
+        if self._task is not None and not self._task.done():
+            return
+        self._stop = asyncio.Event()
+        self._task = asyncio.create_task(self._run(dev), name=f"PeriodicJob:{self.name}")
+
+        def _done(t: asyncio.Task):
+            exc = t.exception()
+            if exc:
+                print(f"[PeriodicJob:{self.name}] crashed:", repr(exc))
+
+        self._task.add_done_callback(_done)
+
+    async def stop(self) -> None:
+        self._stop.set()
+        if self._task is not None:
+            self._task.cancel()
+            with asyncio.CancelledError.__suppress_context__ if False else None:
+                pass
+            try:
+                await self._task
+            except asyncio.CancelledError:
+                pass
+            self._task = None
+
+    async def _run(self, dev: CarBusDevice) -> None:
+        tick = 0
+        next_t = time.perf_counter()
+
+        while not self._stop.is_set():
+            now = time.perf_counter()
+            if now < next_t:
+                await asyncio.sleep(next_t - now)
+            next_t += self.period_s
+
+            out = self.data
+            if self.modify is not None:
+                res = self.modify(tick, out)
+                out = await res if asyncio.iscoroutine(res) else res
+
+            msg = CanMessage(
+                can_id=self.can_id,
+                data=out,
+            )
+            await dev.send_can(
+                msg,
+                channel=self.channel,
+                confirm=self.confirm,
+                echo=self.echo,
+            )
+            tick += 1
+
+
+class PeriodicCanSender:
+    def __init__(self, dev: CarBusDevice):
+        self._dev = dev
+        self._jobs: dict[str, PeriodicJob] = {}
+
+    def add(
+        self,
+        name: str,
+        *,
+        channel: int,
+        can_id: int,
+        data: bytes,
+        period_s: float,
+        modify: Optional[ModifyFn] = None,
+        extended: bool = False,
+        fd: bool = False,
+        brs: bool = False,
+        rtr: bool = False,
+        echo: bool = False,
+        confirm: bool = False,
+        autostart: bool = True,
+    ) -> PeriodicJob:
+        if name in self._jobs:
+            raise ValueError(f"Periodic job '{name}' already exists")
+
+        job = PeriodicJob(
+            name=name,
+            can_id=can_id,
+            data=data,
+            period_s=period_s,
+            channel=channel,
+            extended=extended,
+            fd=fd,
+            brs=brs,
+            rtr=rtr,
+            echo=echo,
+            confirm=confirm,
+            modify=modify,
+        )
+        self._jobs[name] = job
+        if autostart:
+            job.start(self._dev)
+        return job
+
+    def get(self, name: str) -> PeriodicJob:
+        return self._jobs[name]
+
+    async def remove(self, name: str) -> None:
+        job = self._jobs.pop(name, None)
+        if job is not None:
+            await job.stop()
+
+    async def stop_all(self) -> None:
+        await asyncio.gather(*(job.stop() for job in self._jobs.values()), return_exceptions=True)
+        self._jobs.clear()

example/can_message_hook.py

@@ -1,10 +1,7 @@
 import asyncio
 
 from carbus_async import CarBusDevice, CanMessage
-from isotp_async import open_isotp
-from uds_async import UdsClient
 import signal
-import logging
 
 
 async def wait_forever() -> None:

example/can_periodic_message.py

@@ -0,0 +1,48 @@
+import asyncio
+
+from carbus_async import CarBusDevice, PeriodicCanSender
+
+
+async def main(is_debug=False):
+    dev = await CarBusDevice.open("COM6")
+
+    await dev.open_can_channel(
+        channel=1,
+        nominal_bitrate=500_000,
+    )
+
+    await dev.set_terminator(channel=1, enabled=True)
+
+    sender = PeriodicCanSender(dev)
+
+    def mod(tick, data):
+        b = bytearray(data)
+        b[0] = tick & 0xFF
+        return bytes(b)
+
+    sender.add(
+        "cnt",
+        channel=1,
+        can_id=0x100,
+        data=b"\x00" * 8,
+        period_s=0.5,
+        modify=mod)
+
+    sender.add(
+        "heartbeat",
+        channel=1,
+        can_id=0x123,
+        data=b"\x01\x02\x03\x04\x05\x06\x07\x08",
+        period_s=0.1,
+    )
+
+    try:
+        await asyncio.Event().wait()
+    finally:
+        await sender.stop_all()
+        await dev.close()
+
+    return
+
+
+asyncio.run(main())

example/car_ecus_emulated.py

@@ -4,18 +4,18 @@ from dataclasses import dataclass
 from pathlib import Path
 from typing import Any, Dict
 
-from carbus_async import CanIdRouter, RoutedCarBusCanTransport
+from carbus_async import CanIdRouter, RoutedCarBusCanTransport, PeriodicCanSender
 from carbus_async.device import CarBusDevice
 from isotp_async import open_isotp, IsoTpConnection
 from uds_async import UdsServer
 from uds_async.exceptions import UdsNegativeResponse, UdsError
 
-# import logging
-#
-# logging.basicConfig(
-#     level=logging.DEBUG,
-#     format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
-# )
+import logging
+
+logging.basicConfig(
+    level=logging.DEBUG,
+    format="%(asctime)s [%(levelname)s] %(name)s: %(message)s",
+)
 
 TESTER_ID = 0x740
 ECU_ID = 0x760

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "carbus-lib"
-version = "0.1.4"
+version = "0.1.5"
 description = "Async CAN / ISO-TP / UDS library for Car Bus Analyzer"
 readme = "README.md"
 requires-python = ">=3.10"