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FEAT: implement receive own message feature #6

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FEAT: implement receive own message feature #6

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18 changes: 15 additions & 3 deletions gateway/gateway.py
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Original file line number Diff line number Diff line change
Expand Up @@ -237,6 +237,7 @@ def __init__(self, tx_addr : tuple, rx_addr : tuple, *args):
self.thread = None
self.callback = None
self._buffer = b''
self.receive_own_messages = receive_own_messages

def __del__(self):
self.close()
Expand Down Expand Up @@ -377,7 +378,7 @@ def __send_msg(self, data, timeout = None):

self.reconnect_transmit_client()
if self.transmit_socket is None:
return
return -1

started = time.time()
# If no timeout is given, poll for availability
Expand All @@ -397,16 +398,27 @@ def __send_msg(self, data, timeout = None):
sent = 0

if sent == len(data):
return
return 0


# Not all data were sent, try again with remaining data
data = data[sent:]
time_left = timeout - (time.time() - started)
return -2

def send_msg(self, msg : CANMessage, timeout = None):
# self.tx_queue.put(msg, timeout)
self.__send_msg(msg.get_binary(), timeout=timeout)
res = self.__send_msg(msg.get_binary(), timeout=timeout)

if res == 0:
if msg.timestamp is None:
msg.timestamp = time.time() - TIME_REF

if self.receive_own_messages:
try:
self.rx_queue.put(msg)
except self.rx_queue.Full:
logger.warning('RX buffer full sent message lost')

def send_can(self, canid, candata, channel = 0):
self.send_msg(CANMessage(canid, candata, channel=channel, fd=False))
Expand Down
4 changes: 3 additions & 1 deletion gateway/gatewaybus.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,13 +25,15 @@ def __init__(
self,
channel="localhost:3999,localhost:3999",
state=BusState.ACTIVE,
receive_own_messages: bool = False,
*args,
**kwargs
):
super().__init__(channel=channel, *args, **kwargs)

route_tx = kwargs.get("route_tx", None)
route_rx = kwargs.get("route_rx", None)
self.receive_own_messages = receive_own_messages

# example channel format
# host ip : 192.168.1.10
Expand All @@ -49,7 +51,7 @@ def __init__(
self.fd = kwargs.get("fd", False)
self._gateway_channel = 0 # channel is not used

self._gateway = CANGateway(self.route_tx_addr, self.route_rx_addr)
self._gateway = CANGateway(self.route_tx_addr, self.route_rx_addr, self.receive_own_messages)
self._gateway.start()
self.state = state

Expand Down