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#!/usr/bin/env python2
# Tool to query CAN bus uuids
#
# Copyright (C) 2021 Kevin O'Connor <kevin@koconnor.net>
#
# This file may be distributed under the terms of the GNU GPLv3 license.
import sys, os, optparse, time
import can
CANBUS_ID_ADMIN = 0x3F0
CMD_QUERY_UNASSIGNED = 0x00
RESP_NEED_NODEID = 0x20
CMD_SET_KLIPPER_NODEID = 0x01
CMD_SET_CANBOOT_NODEID = 0x11
def query_unassigned(canbus_iface):
# Open CAN socket
filters = [{"can_id": CANBUS_ID_ADMIN + 1, "can_mask": 0x7FF, "extended": False}]
bus = can.interface.Bus(
channel=canbus_iface, can_filters=filters, bustype="socketcan"
)
# Send query
msg = can.Message(
arbitration_id=CANBUS_ID_ADMIN,
data=[CMD_QUERY_UNASSIGNED],
is_extended_id=False,
)
bus.send(msg)
# Read responses
found_ids = {}
start_time = curtime = time.time()
while 1:
tdiff = start_time + 2.0 - curtime
if tdiff <= 0.0:
break
msg = bus.recv(tdiff)
curtime = time.time()
if (
msg is None
or msg.arbitration_id != CANBUS_ID_ADMIN + 1
or msg.dlc < 7
or msg.data[0] != RESP_NEED_NODEID
):
continue
uuid = sum([v << ((5 - i) * 8) for i, v in enumerate(msg.data[1:7])])
if uuid in found_ids:
continue
found_ids[uuid] = 1
AppNames = {
CMD_SET_KLIPPER_NODEID: "Klipper",
CMD_SET_CANBOOT_NODEID: "CanBoot",
}
app_id = CMD_SET_KLIPPER_NODEID
if msg.dlc > 7:
app_id = msg.data[7]
app_name = AppNames.get(app_id, "Unknown")
sys.stdout.write(
"Found canbus_uuid=%012x, Application: %s\n" % (uuid, app_name)
)
sys.stdout.write(
"Total %d uuids found\n"
% (
len(
found_ids,
)
)
)
def main():
usage = "%prog [options] <can interface>"
opts = optparse.OptionParser(usage)
options, args = opts.parse_args()
if len(args) != 1:
opts.error("Incorrect number of arguments")
canbus_iface = args[0]
query_unassigned(canbus_iface)
if __name__ == "__main__":
main()
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