#  PCANBasic.py
#
#  ~~~~~~~~~~~~
#
#  PCAN-Basic API
#
#  ~~~~~~~~~~~~
#
#  ------------------------------------------------------------------
#  Author : Keneth Wagner
#  Last change: 24.01.2011 Wagner
#
#  Language: Python 2.6
#  ------------------------------------------------------------------
#
#  Copyright (C) 1999-2011  PEAK-System Technik GmbH, Darmstadt
#  more Info at http://www.peak-system.com 
#

# Module Imports
#
from ctypes import *

#///////////////////////////////////////////////////////////
# Type definitions
#///////////////////////////////////////////////////////////

TPCANHandle            = c_ubyte  # Represents a PCAN hardware channel handle
TPCANStatus            = int      # Represents a PCAN status/error code
TPCANParameter         = c_ubyte  # Represents a PCAN parameter to be read or set
TPCANDevice            = c_ubyte  # Represents a PCAN device
TPCANMessageType       = c_ubyte  # Represents the type of a PCAN message
TPCANType              = c_ubyte  # Represents the type of PCAN hardware to be initialized
TPCANMode              = c_ubyte  # Represents a PCAN filter mode
TPCANBaudrate          = c_ushort # Represents a PCAN Baud rate register value

#///////////////////////////////////////////////////////////
# Value definitions
#///////////////////////////////////////////////////////////

# Currently defined and supported PCAN channels
#
PCAN_NONEBUS             = TPCANHandle(0x00)  # Undefined/default value for a PCAN bus

PCAN_ISABUS1             = TPCANHandle(0x21)  # PCAN-ISA interface, channel 1
PCAN_ISABUS2             = TPCANHandle(0x22)  # PCAN-ISA interface, channel 2
PCAN_ISABUS3             = TPCANHandle(0x23)  # PCAN-ISA interface, channel 3
PCAN_ISABUS4             = TPCANHandle(0x24)  # PCAN-ISA interface, channel 4
PCAN_ISABUS5             = TPCANHandle(0x25)  # PCAN-ISA interface, channel 5
PCAN_ISABUS6             = TPCANHandle(0x26)  # PCAN-ISA interface, channel 6
PCAN_ISABUS7             = TPCANHandle(0x27)  # PCAN-ISA interface, channel 7
PCAN_ISABUS8             = TPCANHandle(0x28)  # PCAN-ISA interface, channel 8

PCAN_DNGBUS1             = TPCANHandle(0x31)  # PCAN-Dongle/LPT interface, channel 1

PCAN_PCIBUS1             = TPCANHandle(0x41)  # PCAN-PCI interface, channel 1
PCAN_PCIBUS2             = TPCANHandle(0x42)  # PCAN-PCI interface, channel 2
PCAN_PCIBUS3             = TPCANHandle(0x43)  # PCAN-PCI interface, channel 3
PCAN_PCIBUS4             = TPCANHandle(0x44)  # PCAN-PCI interface, channel 4
PCAN_PCIBUS5             = TPCANHandle(0x45)  # PCAN-PCI interface, channel 5
PCAN_PCIBUS6	         = TPCANHandle(0x46)  # PCAN-PCI interface, channel 6
PCAN_PCIBUS7	         = TPCANHandle(0x47)  # PCAN-PCI interface, channel 7
PCAN_PCIBUS8	         = TPCANHandle(0x48)  # PCAN-PCI interface, channel 8

PCAN_USBBUS1             = TPCANHandle(0x51)  # PCAN-USB interface, channel 1
PCAN_USBBUS2             = TPCANHandle(0x52)  # PCAN-USB interface, channel 2
PCAN_USBBUS3             = TPCANHandle(0x53)  # PCAN-USB interface, channel 3
PCAN_USBBUS4             = TPCANHandle(0x54)  # PCAN-USB interface, channel 4
PCAN_USBBUS5             = TPCANHandle(0x55)  # PCAN-USB interface, channel 5
PCAN_USBBUS6             = TPCANHandle(0x56)  # PCAN-USB interface, channel 6
PCAN_USBBUS7             = TPCANHandle(0x57)  # PCAN-USB interface, channel 7
PCAN_USBBUS8             = TPCANHandle(0x58)  # PCAN-USB interface, channel 8

PCAN_PCCBUS1             = TPCANHandle(0x61)  # PCAN-PC Card interface, channel 1
PCAN_PCCBUS2             = TPCANHandle(0x62)  # PCAN-PC Card interface, channel 2

# Represent the PCAN error and status codes 
#
PCAN_ERROR_OK            = TPCANStatus(0x00000)  # No error 
PCAN_ERROR_XMTFULL       = TPCANStatus(0x00001)  # Transmit buffer in CAN controller is full
PCAN_ERROR_OVERRUN       = TPCANStatus(0x00002)  # CAN controller was read too late
PCAN_ERROR_BUSLIGHT      = TPCANStatus(0x00004)  # Bus error: an error counter reached the 'light' limit
PCAN_ERROR_BUSHEAVY      = TPCANStatus(0x00008)  # Bus error: an error counter reached the 'heavy' limit
PCAN_ERROR_BUSOFF        = TPCANStatus(0x00010)  # Bus error: the CAN controller is in bus-off state
PCAN_ERROR_ANYBUSERR     = TPCANStatus(PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF) # Mask for all bus errors
PCAN_ERROR_QRCVEMPTY     = TPCANStatus(0x00020)  # Receive queue is empty
PCAN_ERROR_QOVERRUN      = TPCANStatus(0x00040)  # Receive queue was read too late
PCAN_ERROR_QXMTFULL      = TPCANStatus(0x00080)  # Transmit queue is full
PCAN_ERROR_REGTEST       = TPCANStatus(0x00100)  # Test of the CAN controller hardware registers failed (no hardware found)
PCAN_ERROR_NODRIVER      = TPCANStatus(0x00200)  # Driver not loaded
PCAN_ERROR_HWINUSE       = TPCANStatus(0x00400)  # Hardware already in use by a Net
PCAN_ERROR_NETINUSE      = TPCANStatus(0x00800)  # A Client is already connected to the Net
PCAN_ERROR_ILLHW         = TPCANStatus(0x01400)  # Hardware handle is invalid
PCAN_ERROR_ILLNET        = TPCANStatus(0x01800)  # Net handle is invalid
PCAN_ERROR_ILLCLIENT     = TPCANStatus(0x01C00)  # Client handle is invalid
PCAN_ERROR_ILLHANDLE     = TPCANStatus(PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT) # Mask for all handle errors
PCAN_ERROR_RESOURCE      = TPCANStatus(0x02000)  # Resource (FIFO, Client, timeout) cannot be created
PCAN_ERROR_ILLPARAMTYPE  = TPCANStatus(0x04000)  # Invalid parameter
PCAN_ERROR_ILLPARAMVAL   = TPCANStatus(0x08000)  # Invalid parameter value
PCAN_ERROR_UNKNOWN       = TPCANStatus(0x10000)  # Unknow error
PCAN_ERROR_INITIALIZE    = TPCANStatus(0x40000)  # Channel is not initialized

# PCAN devices
#
PCAN_NONE                = TPCANDevice(0x00)  # Undefined, unknown or not selected PCAN device value
PCAN_PEAKCAN             = TPCANDevice(0x01)  # PCAN Non-Plug&Play devices. NOT USED WITHIN PCAN-Basic API
PCAN_ISA                 = TPCANDevice(0x02)  # PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
PCAN_DNG                 = TPCANDevice(0x03)  # PCAN-Dongle
PCAN_PCI                 = TPCANDevice(0x04)  # PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
PCAN_USB                 = TPCANDevice(0x05)  # PCAN-USB and PCAN-USB Pro
PCAN_PCC                 = TPCANDevice(0x06)  # PCAN-PC Card

# PCAN parameters
#
PCAN_DEVICE_NUMBER       = TPCANParameter(0x01)  # PCAN-USB device number parameter
PCAN_5VOLTS_POWER        = TPCANParameter(0x02)  # PCAN-PC Card 5-Volt power parameter
PCAN_RECEIVE_EVENT       = TPCANParameter(0x03)  # PCAN receive event handler parameter
PCAN_MESSAGE_FILTER      = TPCANParameter(0x04)  # PCAN message filter parameter
PCAN_API_VERSION         = TPCANParameter(0x05)  # PCAN-Basic API version parameter
PCAN_CHANNEL_VERSION     = TPCANParameter(0x06)  # PCAN device channel version parameter
PCAN_BUSOFF_AUTORESET    = TPCANParameter(0x07)  # PCAN Reset-On-Busoff parameter
PCAN_LISTEN_ONLY         = TPCANParameter(0x08)  # PCAN Listen-Only parameter
PCAN_LOG_LOCATION        = TPCANParameter(0x09)  # Directory path for trace files
PCAN_LOG_STATUS          = TPCANParameter(0x0A)  # Debug-Trace activation status
PCAN_LOG_CONFIGURE       = TPCANParameter(0x0B)  # Configuration of the debugged information (LOG_FUNCTION_***)
PCAN_LOG_TEXT            = TPCANParameter(0x0C)  # Custom insertion of text into the log file
PCAN_CHANNEL_CONDITION   = TPCANParameter(0x0D)  # Availability status of a PCAN-Channel
PCAN_HARDWARE_NAME       = TPCANParameter(0x0E)  # PCAN hardware name parameter

# PCAN parameter values
#
PCAN_PARAMETER_OFF       = int(0x00)  # The PCAN parameter is not set (inactive)
PCAN_PARAMETER_ON        = int(0x01)  # The PCAN parameter is set (active)
PCAN_FILTER_CLOSE        = int(0x00)  # The PCAN filter is closed. No messages will be received
PCAN_FILTER_OPEN         = int(0x01)  # The PCAN filter is fully opened. All messages will be received
PCAN_FILTER_CUSTOM       = int(0x02)  # The PCAN filter is custom configured. Only registered messages will be received
PCAN_CHANNEL_UNAVAILABLE = int(0x00)  # The PCAN-Channel handle is illegal, or its associated hadware is not available
PCAN_CHANNEL_AVAILABLE   = int(0x01)  # The PCAN-Channel handle is available to be connected (Plug&Play Hardware: it means futhermore that the hardware is plugged-in)
PCAN_CHANNEL_OCCUPIED    = int(0x02)  # The PCAN-Channel handle is valid, and is already being used

LOG_FUNCTION_DEFAULT     = int(0x00)  # Logs system exceptions / errors
LOG_FUNCTION_ENTRY       = int(0x01)  # Logs the entries to the PCAN-Basic API functions 
LOG_FUNCTION_PARAMETERS  = int(0x02)  # Logs the parameters passed to the PCAN-Basic API functions 
LOG_FUNCTION_LEAVE       = int(0x04)  # Logs the exits from the PCAN-Basic API functions 
LOG_FUNCTION_WRITE       = int(0x08)  # Logs the CAN messages passed to the CAN_Write function
LOG_FUNCTION_READ        = int(0x10)  # Logs the CAN messages received within the CAN_Read function

# PCAN message types
#
PCAN_MESSAGE_STANDARD    = TPCANMessageType(0x00)  # The PCAN message is a CAN Standard Frame (11-bit identifier)
PCAN_MESSAGE_RTR         = TPCANMessageType(0x01)  # The PCAN message is a CAN Remote-Transfer-Request Frame
PCAN_MESSAGE_EXTENDED    = TPCANMessageType(0x02)  # The PCAN message is a CAN Extended Frame (29-bit identifier)
PCAN_MESSAGE_STATUS      = TPCANMessageType(0x80)  # The PCAN message represents a PCAN status message

# Frame Type / Initialization Mode
#
PCAN_MODE_STANDARD       = PCAN_MESSAGE_STANDARD  
PCAN_MODE_EXTENDED       = PCAN_MESSAGE_EXTENDED  

# Baud rate codes = BTR0/BTR1 register values for the CAN controller.
# You can define your own Baud rate with the BTROBTR1 register.
# Take a look at www.peak-system.com for our free software "BAUDTOOL" 
# to calculate the BTROBTR1 register for every baudrate and sample point.
#
PCAN_BAUD_1M             = TPCANBaudrate(0x0014) #   1 MBit/s
PCAN_BAUD_800K           = TPCANBaudrate(0x0016) # 800 kBit/s
PCAN_BAUD_500K           = TPCANBaudrate(0x001C) # 500 kBit/s
PCAN_BAUD_250K           = TPCANBaudrate(0x011C) # 250 kBit/s
PCAN_BAUD_125K           = TPCANBaudrate(0x031C) # 125 kBit/s
PCAN_BAUD_100K           = TPCANBaudrate(0x432F) # 100 kBit/s
PCAN_BAUD_95K            = TPCANBaudrate(0xC34E) #  95,238 kBit/s
PCAN_BAUD_83K            = TPCANBaudrate(0x4B14) #  83,333 kBit/s
PCAN_BAUD_50K            = TPCANBaudrate(0x472F) #  50 kBit/s
PCAN_BAUD_47K            = TPCANBaudrate(0x1414) #  47,619 kBit/s
PCAN_BAUD_33K            = TPCANBaudrate(0x1D14) #  33,333 kBit/s
PCAN_BAUD_20K            = TPCANBaudrate(0x532F) #  20 kBit/s
PCAN_BAUD_10K            = TPCANBaudrate(0x672F) #  10 kBit/s
PCAN_BAUD_5K             = TPCANBaudrate(0x7F7F) #   5 kBit/s

# Supported No-Plug-And-Play Hardware types
#
PCAN_TYPE_ISA            = TPCANType(0x01)  # PCAN-ISA 82C200
PCAN_TYPE_ISA_SJA        = TPCANType(0x09)  # PCAN-ISA SJA1000
PCAN_TYPE_ISA_PHYTEC     = TPCANType(0x04)  # PHYTEC ISA 
PCAN_TYPE_DNG            = TPCANType(0x02)  # PCAN-Dongle 82C200
PCAN_TYPE_DNG_EPP        = TPCANType(0x03)  # PCAN-Dongle EPP 82C200
PCAN_TYPE_DNG_SJA        = TPCANType(0x05)  # PCAN-Dongle SJA1000
PCAN_TYPE_DNG_SJA_EPP    = TPCANType(0x06)  # PCAN-Dongle EPP SJA1000

# Represents a PCAN message
#
class TPCANMsg (Structure):
    """
    Represents a PCAN message
    """
    _fields_ = [ ("ID",      c_ulong),          # 11/29-bit message identifier
                 ("MSGTYPE", TPCANMessageType), # Type of the message
                 ("LEN",     c_ubyte),          # Data Length Code of the message (0..8)
                 ("DATA",    c_ubyte * 8) ]     # Data of the message (DATA[0]..DATA[7])

# Represents a timestamp of a received PCAN message
# Total Microseconds = micros + 1000 * millis + 0xFFFFFFFF * 1000 * millis_overflow
#
class TPCANTimestamp (Structure):
    """
    Represents a timestamp of a received PCAN message
    Total Microseconds = micros + 1000 * millis + 0xFFFFFFFF * 1000 * millis_overflow
    """
    _fields_ = [ ("millis", c_ulong),           # Base-value: milliseconds: 0.. 2^32-1
                 ("millis_overflow", c_ushort), # Roll-arounds of millis
                 ("micros", c_ushort) ]         # Microseconds: 0..999

#///////////////////////////////////////////////////////////
# PCAN-Basic API function declarations
#///////////////////////////////////////////////////////////

# PCAN-Basic API class implementation
#
class PCANBasic:
    """
      PCAN-Basic API class implementation
    """      
    def __init__(self):
        # Loads the PCANBasic.dll
        #     
        self.__m_dllBasic = windll.LoadLibrary("PCANBasic")
        if self.__m_dllBasic == None:
            print "Exception: The PCAN-Basic DLL couldn't be loaded!"

    # Initializes a PCAN Channel
    #
    def Initialize(
        self,
        Channel,   
        Btr0Btr1,  
        HwType = TPCANType(0),  
        IOPort = c_uint(0),
        Interrupt = c_ushort(0)):
        
        """
          Initializes a PCAN Channel

        Parameters:
          Channel  : A TPCANHandle representing a PCAN Channel
          Btr0Btr1 : The speed for the communication (BTR0BTR1 code)
          HwType   : NON PLUG&PLAY: The type of hardware and operation mode
          IOPort   : NON PLUG&PLAY: The I/O address for the parallel port
          Interrupt: NON PLUG&PLAY: Interrupt number of the parallel port
        
        Returns:
          A TPCANStatus error code
        """
        try:
            res = self.__m_dllBasic.CAN_Initialize(Channel,Btr0Btr1,HwType,IOPort,Interrupt)
            return TPCANStatus(res)
        except:
            print "Exception on PCANBasic.Initialize"
            raise
        
    #  Uninitializes one or all PCAN Channels initialized by CAN_Initialize
    #
    def Uninitialize(
        self,
        Channel):

        """
          Uninitializes one or all PCAN Channels initialized by CAN_Initialize
          
        Remarks:
          Giving the TPCANHandle value "PCAN_NONEBUS", uninitialize all initialized channels
          
        Parameters:
          Channel  : A TPCANHandle representing a PCAN Channel
        
        Returns:
          A TPCANStatus error code
        """
        try:
            res = self.__m_dllBasic.CAN_Uninitialize(Channel)
            return TPCANStatus(res)
        except:
            print "Exception on PCANBasic.Uninitialize"
            raise

    #  Resets the receive and transmit queues of the PCAN Channel
    #
    def Reset(
        self,
        Channel):

        """
          Resets the receive and transmit queues of the PCAN Channel
          
        Remarks:
          A reset of the CAN controller is not performed
          
        Parameters:
          Channel  : A TPCANHandle representing a PCAN Channel
        
        Returns:
          A TPCANStatus error code
        """
        try:
            res = self.__m_dllBasic.CAN_Reset(Channel)
            return TPCANStatus(res)
        except:
            print "Exception on PCANBasic.Reset"
            raise
            
    #  Gets the current status of a PCAN Channel
    #
    def GetStatus(
        self,
        Channel):

        """
          Gets the current status of a PCAN Channel
          
        Parameters:
          Channel  : A TPCANHandle representing a PCAN Channel
        
        Returns:
          A TPCANStatus error code
        """
        try:
            res = self.__m_dllBasic.CAN_GetStatus(Channel)
            return TPCANStatus(res)
        except:
            print "Exception on PCANBasic.GetStatus"
            raise

    # Reads a CAN message from the receive queue of a PCAN Channel
    #
    def Read(
        self,
        Channel):

        """
          Reads a CAN message from the receive queue of a PCAN Channel

        Remarks:
          The return value of this method is a 3-touple, where 
          the first value is the result (TPCANStatus) of the method.
          The order of the values are:
          [0]: A TPCANStatus error code
          [1]: A TPCANMsg structure with the CAN message read
          [2]: A TPCANTimestamp structure with the time when a message was read
          
        Parameters:
          Channel  : A TPCANHandle representing a PCAN Channel
        
        Returns:
          A touple with three values
        """
        try:
            msg = TPCANMsg()
            timestamp = TPCANTimestamp()
            res = self.__m_dllBasic.CAN_Read(Channel,byref(msg),byref(timestamp))
            return TPCANStatus(res),msg,timestamp
        except:
            print "Exception on PCANBasic.Read"
            raise           

    # Transmits a CAN message 
    #
    def Write(
        self,
        Channel,
        MessageBuffer):

        """
          Transmits a CAN message 
          
        Parameters:
          Channel      : A TPCANHandle representing a PCAN Channel
          MessageBuffer: A TPCANMsg representing the CAN message to be sent
        
        Returns:
          A TPCANStatus error code
        """
        try:
            res = self.__m_dllBasic.CAN_Write(Channel,byref(MessageBuffer))
            return TPCANStatus(res)
        except:
            print "Exception on PCANBasic.Write"
            raise

    # Configures the reception filter 
    #
    def FilterMessages(
        self,
        Channel,
        FromID,
        ToID,
        Mode):

        """
          Configures the reception filter

        Remarks:
          The message filter will be expanded with every call to this function.
          If it is desired to reset the filter, please use the 'SetValue' function.
        
        Parameters:
          Channel : A TPCANHandle representing a PCAN Channel
          FromID  : A c_ulong value with the lowest CAN ID to be received
          ToID    : A c_ulong value with the highest CAN ID to be received
          Mode    : A TPCANMode representing the message type (Standard, 11-bit 
                    identifier, or Extended, 29-bit identifier)
        
        Returns:
          A TPCANStatus error code
        """
        try:
            res = self.__m_dllBasic.CAN_FilterMessages(Channel,FromID,ToID,Mode)
            return TPCANStatus(res)
        except:
            print "Exception on PCANBasic.FilterMessages"
            raise

    # Retrieves a PCAN Channel value 
    #
    def GetValue(
        self,
        Channel,
        Parameter):

        """
          Retrieves a PCAN Channel value

        Remarks:
          Parameters can be present or not according with the kind
          of Hardware (PCAN Channel) being used. If a parameter is not available,
          a PCAN_ERROR_ILLPARAMTYPE error will be returned.
          
          The return value of this method is a 2-touple, where 
          the first value is the result (TPCANStatus) of the method and
          the second one, the asked value 
          
        Parameters:
          Channel   : A TPCANHandle representing a PCAN Channel
          Parameter : The TPCANParameter parameter to get
        
        Returns:
          A touple with 2 values
        """        
        try:
            if Parameter == PCAN_API_VERSION or Parameter == PCAN_CHANNEL_VERSION or Parameter == PCAN_LOG_LOCATION:
                mybuffer = create_string_buffer(256)
            else:
                mybuffer = c_int(0)

            res = self.__m_dllBasic.CAN_GetValue(Channel,Parameter,byref(mybuffer),sizeof(mybuffer))
            return TPCANStatus(res),mybuffer.value
        except:
            print "Exception on PCANBasic.GetValue"
            raise            

    # Returns a descriptive text of a given TPCANStatus
    # error code, in any desired language
    #
    def SetValue(
        self,
        Channel,
        Parameter,
        Buffer):

        """
          Returns a descriptive text of a given TPCANStatus error
          code, in any desired language

        Remarks:
          Parameters can be present or not according with the kind
          of Hardware (PCAN Channel) being used. If a parameter is not available,
          a PCAN_ERROR_ILLPARAMTYPE error will be returned.
          
        Parameters:
          Channel      : A TPCANHandle representing a PCAN Channel
          Parameter    : The TPCANParameter parameter to set
          Buffer       : Buffer with the value to be set
          BufferLength : Size in bytes of the buffer
        
        Returns:
          A TPCANStatus error code
        """        
        try:
            if Parameter == PCAN_LOG_LOCATION or Parameter == PCAN_LOG_TEXT:
                mybuffer = create_string_buffer(256)
            else:
                mybuffer = c_int(0)

            mybuffer.value = Buffer
            res = self.__m_dllBasic.CAN_SetValue(Channel,Parameter,byref(mybuffer),sizeof(mybuffer))
            return TPCANStatus(res)
        except:
            print "Exception on PCANBasic.SetValue"
            raise

    def GetErrorText(
        self,
        Error,
        Language = 0):

        """
          Configures or sets a PCAN Channel value

        Remarks:

          The current languages available for translation are:
          Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A),
          Italian (0x10) and French (0x0C)          

          The return value of this method is a 2-touple, where 
          the first value is the result (TPCANStatus) of the method and
          the second one, the error text
          
        Parameters:
          Error    : A TPCANStatus error code
          Language : Indicates a 'Primary language ID' (Default is Neutral(0))
        
        Returns:
          A touple with 2 values
        """  
        try:
            mybuffer = create_string_buffer(256)
            res = self.__m_dllBasic.CAN_GetErrorText(Error,Language,byref(mybuffer))
            return TPCANStatus(res),mybuffer.value
        except:
            print "Exception on PCANBasic.GetErrorText"
            raise            

































