PCANBasic.py

#  PCANBasic.py
#
#  ~~~~~~~~~~~~
#
#  PCAN-Basic API
#
#  ~~~~~~~~~~~~
#
#  ------------------------------------------------------------------
#  Author : Keneth Wagner
#  Last change: 2023-06-01
#
#  Language: Python 2.7, 3.8
#  ------------------------------------------------------------------
#
#  Copyright (C) 1999-2023  PEAK-System Technik GmbH, Darmstadt
#  more Info at http://www.peak-system.com 
#

# Module Imports
#
from ctypes import *
from string import *
import platform

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

TPCANHandle                   = c_ushort    # 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
TPCANBitrateFD                = c_char_p    # Represents a PCAN-FD bit rate string
TPCANTimestampFD              = c_ulonglong # Represents a timestamp of a received PCAN FD message

#///////////////////////////////////////////////////////////
# 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_PCIBUS9                  = TPCANHandle(0x409)  # PCAN-PCI interface, channel 9
PCAN_PCIBUS10                 = TPCANHandle(0x40A)  # PCAN-PCI interface, channel 10
PCAN_PCIBUS11                 = TPCANHandle(0x40B)  # PCAN-PCI interface, channel 11
PCAN_PCIBUS12                 = TPCANHandle(0x40C)  # PCAN-PCI interface, channel 12
PCAN_PCIBUS13                 = TPCANHandle(0x40D)  # PCAN-PCI interface, channel 13
PCAN_PCIBUS14                 = TPCANHandle(0x40E)  # PCAN-PCI interface, channel 14
PCAN_PCIBUS15                 = TPCANHandle(0x40F)  # PCAN-PCI interface, channel 15
PCAN_PCIBUS16                 = TPCANHandle(0x410)  # PCAN-PCI interface, channel 16
                             
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_USBBUS9                  = TPCANHandle(0x509)  # PCAN-USB interface, channel 9
PCAN_USBBUS10                 = TPCANHandle(0x50A)  # PCAN-USB interface, channel 10
PCAN_USBBUS11                 = TPCANHandle(0x50B)  # PCAN-USB interface, channel 11
PCAN_USBBUS12                 = TPCANHandle(0x50C)  # PCAN-USB interface, channel 12
PCAN_USBBUS13                 = TPCANHandle(0x50D)  # PCAN-USB interface, channel 13
PCAN_USBBUS14                 = TPCANHandle(0x50E)  # PCAN-USB interface, channel 14
PCAN_USBBUS15                 = TPCANHandle(0x50F)  # PCAN-USB interface, channel 15
PCAN_USBBUS16                 = TPCANHandle(0x510)  # PCAN-USB interface, channel 16
                             
PCAN_PCCBUS1                  = TPCANHandle(0x61)  # PCAN-PC Card interface, channel 1
PCAN_PCCBUS2                  = TPCANHandle(0x62)  # PCAN-PC Card interface, channel 2

PCAN_LANBUS1                  = TPCANHandle(0x801)  # PCAN-LAN interface, channel 1
PCAN_LANBUS2                  = TPCANHandle(0x802)  # PCAN-LAN interface, channel 2
PCAN_LANBUS3                  = TPCANHandle(0x803)  # PCAN-LAN interface, channel 3
PCAN_LANBUS4                  = TPCANHandle(0x804)  # PCAN-LAN interface, channel 4
PCAN_LANBUS5                  = TPCANHandle(0x805)  # PCAN-LAN interface, channel 5
PCAN_LANBUS6                  = TPCANHandle(0x806)  # PCAN-LAN interface, channel 6
PCAN_LANBUS7                  = TPCANHandle(0x807)  # PCAN-LAN interface, channel 7
PCAN_LANBUS8                  = TPCANHandle(0x808)  # PCAN-LAN interface, channel 8
PCAN_LANBUS9                  = TPCANHandle(0x809)  # PCAN-LAN interface, channel 9
PCAN_LANBUS10                 = TPCANHandle(0x80A)  # PCAN-LAN interface, channel 10
PCAN_LANBUS11                 = TPCANHandle(0x80B)  # PCAN-LAN interface, channel 11
PCAN_LANBUS12                 = TPCANHandle(0x80C)  # PCAN-LAN interface, channel 12
PCAN_LANBUS13                 = TPCANHandle(0x80D)  # PCAN-LAN interface, channel 13
PCAN_LANBUS14                 = TPCANHandle(0x80E)  # PCAN-LAN interface, channel 14
PCAN_LANBUS15                 = TPCANHandle(0x80F)  # PCAN-LAN interface, channel 15
PCAN_LANBUS16                 = TPCANHandle(0x810)  # PCAN-LAN interface, channel 16

# 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_BUSWARNING         = TPCANStatus(PCAN_ERROR_BUSHEAVY) # Bus error: an error counter reached the 'warning' limit
PCAN_ERROR_BUSPASSIVE         = TPCANStatus(0x40000)  # Bus error: the CAN controller is error passive
PCAN_ERROR_BUSOFF             = TPCANStatus(0x00010)  # Bus error: the CAN controller is in bus-off state
PCAN_ERROR_ANYBUSERR          = TPCANStatus(PCAN_ERROR_BUSWARNING | PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF | PCAN_ERROR_BUSPASSIVE) # 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)  # Unknown error
PCAN_ERROR_ILLDATA            = TPCANStatus(0x20000)  # Invalid data, function, or action
PCAN_ERROR_ILLMODE            = TPCANStatus(0x80000)  # Driver object state is wrong for the attempted operation
PCAN_ERROR_CAUTION            = TPCANStatus(0x2000000)# An operation was successfully carried out, however, irregularities were registered
PCAN_ERROR_INITIALIZE         = TPCANStatus(0x4000000)# Channel is not initialized [Value was changed from 0x40000 to 0x4000000]
PCAN_ERROR_ILLOPERATION       = TPCANStatus(0x8000000)# Invalid operation [Value was changed from 0x80000 to 0x8000000]

# PCAN devices
#
PCAN_NONE                     = TPCANDevice(0x00)  # Undefined, unknown or not selected PCAN device value
PCAN_PEAKCAN                  = TPCANDevice(0x01)  # PCAN Non-PnP 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_VIRTUAL                  = TPCANDevice(0x07)  # PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API
PCAN_LAN                      = TPCANDevice(0x08)  # PCAN Gateway devices

# PCAN parameters
#
PCAN_DEVICE_ID                 = TPCANParameter(0x01)  # Device identifier parameter
PCAN_5VOLTS_POWER              = TPCANParameter(0x02)  # 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 log files
PCAN_LOG_STATUS                = TPCANParameter(0x0A)  # Debug-Log 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_RECEIVE_STATUS            = TPCANParameter(0x0F)  # Message reception status of a PCAN-Channel
PCAN_CONTROLLER_NUMBER         = TPCANParameter(0x10)  # CAN-Controller number of a PCAN-Channel
PCAN_TRACE_LOCATION            = TPCANParameter(0x11)  # Directory path for PCAN trace files
PCAN_TRACE_STATUS              = TPCANParameter(0x12)  # CAN tracing activation status
PCAN_TRACE_SIZE                = TPCANParameter(0x13)  # Configuration of the maximum file size of a CAN trace
PCAN_TRACE_CONFIGURE           = TPCANParameter(0x14)  # Configuration of the trace file storing mode (TRACE_FILE_***)
PCAN_CHANNEL_IDENTIFYING       = TPCANParameter(0x15)  # Physical identification of a USB based PCAN-Channel by blinking its associated LED
PCAN_CHANNEL_FEATURES          = TPCANParameter(0x16)  # Capabilities of a PCAN device (FEATURE_***)
PCAN_BITRATE_ADAPTING          = TPCANParameter(0x17)  # Using of an existing bit rate (PCAN-View connected to a channel)
PCAN_BITRATE_INFO              = TPCANParameter(0x18)  # Configured bit rate as Btr0Btr1 value
PCAN_BITRATE_INFO_FD           = TPCANParameter(0x19)  # Configured bit rate as TPCANBitrateFD string
PCAN_BUSSPEED_NOMINAL          = TPCANParameter(0x1A)  # Configured nominal CAN Bus speed as Bits per seconds
PCAN_BUSSPEED_DATA             = TPCANParameter(0x1B)  # Configured CAN data speed as Bits per seconds
PCAN_IP_ADDRESS                = TPCANParameter(0x1C)  # Remote address of a LAN channel as string in IPv4 format
PCAN_LAN_SERVICE_STATUS        = TPCANParameter(0x1D)  # Status of the Virtual PCAN-Gateway Service
PCAN_ALLOW_STATUS_FRAMES       = TPCANParameter(0x1E)  # Status messages reception status within a PCAN-Channel
PCAN_ALLOW_RTR_FRAMES          = TPCANParameter(0x1F)  # RTR messages reception status within a PCAN-Channel
PCAN_ALLOW_ERROR_FRAMES        = TPCANParameter(0x20)  # Error messages reception status within a PCAN-Channel
PCAN_INTERFRAME_DELAY          = TPCANParameter(0x21)  # Delay, in microseconds, between sending frames
PCAN_ACCEPTANCE_FILTER_11BIT   = TPCANParameter(0x22)  # Filter over code and mask patterns for 11-Bit messages
PCAN_ACCEPTANCE_FILTER_29BIT   = TPCANParameter(0x23)  # Filter over code and mask patterns for 29-Bit messages
PCAN_IO_DIGITAL_CONFIGURATION  = TPCANParameter(0x24)  # Output mode of 32 digital I/O pin of a PCAN-USB Chip. 1: Output-Active 0 : Output Inactive
PCAN_IO_DIGITAL_VALUE          = TPCANParameter(0x25)  # Value assigned to a 32 digital I/O pins of a PCAN-USB Chip
PCAN_IO_DIGITAL_SET            = TPCANParameter(0x26)  # Value assigned to a 32 digital I/O pins of a PCAN-USB Chip - Multiple digital I/O pins to 1 = High
PCAN_IO_DIGITAL_CLEAR          = TPCANParameter(0x27)  # Clear multiple digital I/O pins to 0
PCAN_IO_ANALOG_VALUE           = TPCANParameter(0x28)  # Get value of a single analog input pin
PCAN_FIRMWARE_VERSION          = TPCANParameter(0x29)  # Get the version of the firmware used by the device associated with a PCAN-Channel
PCAN_ATTACHED_CHANNELS_COUNT   = TPCANParameter(0x2A)  # Get the amount of PCAN channels attached to a system
PCAN_ATTACHED_CHANNELS         = TPCANParameter(0x2B)  # Get information about PCAN channels attached to a system
PCAN_ALLOW_ECHO_FRAMES         = TPCANParameter(0x2C)  # Echo messages reception status within a PCAN-Channel
PCAN_DEVICE_PART_NUMBER        = TPCANParameter(0x2D)  # Get the part number associated to a device

# DEPRECATED parameters
#
PCAN_DEVICE_NUMBER             = PCAN_DEVICE_ID        # DEPRECATED. Use PCAN_DEVICE_ID instead

# 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 hardware is not available
PCAN_CHANNEL_AVAILABLE        = int(0x01)  # The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in)
PCAN_CHANNEL_OCCUPIED         = int(0x02)  # The PCAN-Channel handle is valid, and is already being used
PCAN_CHANNEL_PCANVIEW         = PCAN_CHANNEL_AVAILABLE | PCAN_CHANNEL_OCCUPIED  # The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect
                              
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
LOG_FUNCTION_ALL              = int(0xFFFF) # Logs all possible information within the PCAN-Basic API functions
                              
TRACE_FILE_SINGLE             = int(0x00)  # A single file is written until it size reaches PAN_TRACE_SIZE
TRACE_FILE_SEGMENTED          = int(0x01)  # Traced data is distributed in several files with size PAN_TRACE_SIZE
TRACE_FILE_DATE               = int(0x02)  # Includes the date into the name of the trace file
TRACE_FILE_TIME               = int(0x04)  # Includes the start time into the name of the trace file
TRACE_FILE_OVERWRITE          = int(0x80)  # Causes the overwriting of available traces (same name)
TRACE_FILE_DATA_LENGTH        = int(0x100) # Causes using the data length column ('l') instead of the DLC column ('L') in the trace file
                              
FEATURE_FD_CAPABLE            = int(0x01)  # Device supports flexible data-rate (CAN-FD)
FEATURE_DELAY_CAPABLE         = int(0x02)  # Device supports a delay between sending frames (FPGA based USB devices)
FEATURE_IO_CAPABLE            = int(0x04)  # Device supports I/O functionality for electronic circuits (USB-Chip devices)
                              
SERVICE_STATUS_STOPPED        = int(0x01)  # The service is not running
SERVICE_STATUS_RUNNING        = int(0x04)  # The service is running

# Other constants
#
MAX_LENGTH_HARDWARE_NAME      = int(33)    # Maximum length of the name of a device: 32 characters + terminator
MAX_LENGTH_VERSION_STRING     = int(256)   # Maximum length of a version string: 255 characters + terminator
                              
# 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_FD               = TPCANMessageType(0x04)  # The PCAN message represents a FD frame in terms of CiA Specs
PCAN_MESSAGE_BRS              = TPCANMessageType(0x08)  # The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate)
PCAN_MESSAGE_ESI              = TPCANMessageType(0x10)  # The PCAN message represents a FD error state indicator(CAN FD transmitter was error active)
PCAN_MESSAGE_ECHO             = TPCANMessageType(0x20)  # The PCAN message represents an echo CAN Frame
PCAN_MESSAGE_ERRFRAME         = TPCANMessageType(0x40)  # The PCAN message represents an error frame
PCAN_MESSAGE_STATUS           = TPCANMessageType(0x80)  # The PCAN message represents a PCAN status message

# LookUp Parameters
#
LOOKUP_DEVICE_TYPE            = b"devicetype"           # Lookup channel by Device type (see PCAN devices e.g. PCAN_USB)
LOOKUP_DEVICE_ID              = b"deviceid"             # Lookup channel by device id
LOOKUP_CONTROLLER_NUMBER      = b"controllernumber"     # Lookup channel by CAN controller 0-based index
LOOKUP_IP_ADDRESS             = b"ipaddress"            # Lookup channel by IP address (LAN channels only)

# 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 bit rate 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(0x852B) #  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(0x8B2F) #  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

# Represents the configuration for a CAN bit rate
# Note: 
#    * Each parameter and its value must be separated with a '='.
#    * Each pair of parameter/value must be separated using ','. 
#
# Example:
#    f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1
#
PCAN_BR_CLOCK                 = TPCANBitrateFD(b"f_clock")
PCAN_BR_CLOCK_MHZ             = TPCANBitrateFD(b"f_clock_mhz")
PCAN_BR_NOM_BRP               = TPCANBitrateFD(b"nom_brp")
PCAN_BR_NOM_TSEG1             = TPCANBitrateFD(b"nom_tseg1")
PCAN_BR_NOM_TSEG2             = TPCANBitrateFD(b"nom_tseg2")
PCAN_BR_NOM_SJW               = TPCANBitrateFD(b"nom_sjw")
PCAN_BR_NOM_SAMPLE            = TPCANBitrateFD(b"nom_sam")
PCAN_BR_DATA_BRP              = TPCANBitrateFD(b"data_brp")
PCAN_BR_DATA_TSEG1            = TPCANBitrateFD(b"data_tseg1")
PCAN_BR_DATA_TSEG2            = TPCANBitrateFD(b"data_tseg2")
PCAN_BR_DATA_SJW              = TPCANBitrateFD(b"data_sjw")
PCAN_BR_DATA_SAMPLE           = TPCANBitrateFD(b"data_ssp_offset")

# Supported Non-PnP 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_uint),           # 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) + (0x100000000 * 1000 * millis_overflow)
#
class TPCANTimestamp (Structure):
    """
    Represents a timestamp of a received PCAN message
    Total Microseconds = micros + (1000 * millis) + (0x100000000 * 1000 * millis_overflow)
    """
    _fields_ = [ ("millis",          c_uint),    # Base-value: milliseconds: 0.. 2^32-1
                 ("millis_overflow", c_ushort),  # Roll-arounds of millis
                 ("micros",          c_ushort) ] # Microseconds: 0..999

# Represents a PCAN message from a FD capable hardware
#
class TPCANMsgFD (Structure):
    """
    Represents a PCAN message
    """
    _fields_ = [ ("ID",      c_uint),           # 11/29-bit message identifier
                 ("MSGTYPE", TPCANMessageType), # Type of the message
                 ("DLC",     c_ubyte),          # Data Length Code of the message (0..15)
                 ("DATA",    c_ubyte * 64) ]    # Data of the message (DATA[0]..DATA[63])

# Describes an available PCAN channel
#
class TPCANChannelInformation (Structure):
    """
    Describes an available PCAN channel
    """
    _fields_ = [ ("channel_handle",    TPCANHandle),                       # PCAN channel handle
                 ("device_type",       TPCANDevice),                       # Kind of PCAN device
                 ("controller_number", c_ubyte),                           # CAN-Controller number
                 ("device_features",   c_uint),                            # Device capabilities flag (see FEATURE_*)
                 ("device_name",       c_char * MAX_LENGTH_HARDWARE_NAME), # Device name
                 ("device_id",         c_uint),                            # Device number
                 ("channel_condition", c_uint) ]                           # Availability status of a PCAN-Channel

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

# PCAN-Basic API class implementation
#
class PCANBasic:
    """
      PCAN-Basic API class implementation
    """      
    def __init__(self):
        # Loads the PCANBasic API
        #     
        if platform.system() == 'Windows':
            # Loads the API on Windows
            self.__m_dllBasic = windll.LoadLibrary("PCANBasic")
        elif platform.system() == 'Linux':
            # Loads the API on Linux
            self.__m_dllBasic = cdll.LoadLibrary("libpcanbasic.so")            
        elif platform.system() == 'Darwin':
            # Loads the API on Mac
            #
            # NOTE: 
            # ~~~~~
            # The macOS library for PCAN-USB interfaces from PEAK-System, PCBUSB library,
            # is a third-party software creaded and mantained by the MacCAN project. For
            # information and support, please contact MacCAN (info@mac-can).
            #
           self.__m_dllBasic = cdll.LoadLibrary("libPCBUSB.dylib")            

        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-PnP: The type of hardware and operation mode
          IOPort   : Non-PnP: The I/O address for the parallel port
          Interrupt: Non-PnP: 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
        
    # Initializes a FD capable PCAN Channel  
    #
    def InitializeFD(
        self,
        Channel,   
        BitrateFD):
        
        """
          Initializes a FD capable PCAN Channel  

        Parameters:
          Channel  : The handle of a FD capable PCAN Channel
          BitrateFD : The speed for the communication (FD bit rate string)

        Remarks:
          See PCAN_BR_* values.
          * parameter and values must be separated by '='
          * Couples of Parameter/value must be separated by ','
          * Following Parameter must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2,
            nom_brp, nom_sjw, nom_tseg1, nom_tseg2.
          * Following Parameters are optional (not used yet): data_ssp_offset, nom_sam

        Example:
          f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1

        Returns:
          A TPCANStatus error code
        """
        try:
            res = self.__m_dllBasic.CAN_InitializeFD(Channel,BitrateFD)
            return TPCANStatus(res)
        except:
            print ("Exception on PCANBasic.InitializeFD")
            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           

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

        """
          Reads a CAN message from the receive queue of a FD capable 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 TPCANMsgFD structure with the CAN message read
          [2]: A TPCANTimestampFD that is the time when a message was read
          
        Parameters:
          Channel  : The handle of a FD capable PCAN Channel
        
        Returns:
          A touple with three values
        """
        try:
            msg = TPCANMsgFD()
            timestamp = TPCANTimestampFD()
            res = self.__m_dllBasic.CAN_ReadFD(Channel,byref(msg),byref(timestamp))
            return TPCANStatus(res),msg,timestamp
        except:
            print ("Exception on PCANBasic.ReadFD")
            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

    # Transmits a CAN message over a FD capable PCAN Channel
    #
    def WriteFD(
        self,
        Channel,
        MessageBuffer):

        """
          Transmits a CAN message over a FD capable PCAN Channel 
          
        Parameters:
          Channel      : The handle of a FD capable PCAN Channel
          MessageBuffer: A TPCANMsgFD buffer with the message to be sent
        
        Returns:
          A TPCANStatus error code
        """
        try:
            res = self.__m_dllBasic.CAN_WriteFD(Channel,byref(MessageBuffer))
            return TPCANStatus(res)
        except:
            print ("Exception on PCANBasic.WriteFD")
            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_uint value with the lowest CAN ID to be received
          ToID    : A c_uint 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_HARDWARE_NAME or Parameter == PCAN_CHANNEL_VERSION or Parameter == PCAN_LOG_LOCATION or Parameter == PCAN_TRACE_LOCATION or Parameter == PCAN_BITRATE_INFO_FD or Parameter == PCAN_IP_ADDRESS or Parameter == PCAN_FIRMWARE_VERSION or Parameter == PCAN_DEVICE_PART_NUMBER:
                mybuffer = create_string_buffer(256)
                
            elif Parameter == PCAN_ATTACHED_CHANNELS:
                res = self.GetValue(Channel, PCAN_ATTACHED_CHANNELS_COUNT)
                if TPCANStatus(res[0]) != PCAN_ERROR_OK:
                    return TPCANStatus(res[0]),
                mybuffer = (TPCANChannelInformation * res[1])()

            elif Parameter == PCAN_ACCEPTANCE_FILTER_11BIT or Parameter == PCAN_ACCEPTANCE_FILTER_29BIT:
                mybuffer = c_int64(0)
            
            else:
                mybuffer = c_int(0)

            res = self.__m_dllBasic.CAN_GetValue(Channel,Parameter,byref(mybuffer),sizeof(mybuffer))
            if Parameter == PCAN_ATTACHED_CHANNELS:
                return TPCANStatus(res),mybuffer
            else:
                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):

        """
          Configures or sets 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.
          
        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 or Parameter == PCAN_TRACE_LOCATION:
                mybuffer = create_string_buffer(256)
            elif Parameter == PCAN_ACCEPTANCE_FILTER_11BIT or Parameter == PCAN_ACCEPTANCE_FILTER_29BIT:
                mybuffer = c_int64(0)
            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):

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

        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  
        
    def LookUpChannel(
        self,
        Parameters):

        """
            Finds a PCAN-Basic channel that matches with the given parameters

        Remarks:

          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 a TPCANHandle value
        
        Parameters:
            Parameters   : A comma separated string contained pairs of parameter-name/value 
                           to be matched within a PCAN-Basic channel

        Returns:
          A touple with 2 values
        """
        try:
            mybuffer = TPCANHandle(0)
            res = self.__m_dllBasic.CAN_LookUpChannel(Parameters,byref(mybuffer))
            return TPCANStatus(res),mybuffer
        except:
            print ("Exception on PCANBasic.LookUpChannel")
            raise