#!/usr/bin/python
# _*_ coding:utf-8 _*_
from PCANBasic import *
from queue import *
import threading, time, osclass PcanOperate(PCANBasic, threading.Thread):def __init__(self):super().__init__()  # 继承父类的init方法result = self.Initialize(PCAN_USBBUS1, PCAN_BAUD_500K)  # 总线初始化if result != PCAN_ERROR_OK:print(self.GetErrorText(result))  # 发生错误，获取错误信息else:print("PCAN-USB 已初始化")def ProcessMessage(self, msg, timestamp):"""CAN消息处理方法"""msg_dict = {}msg_id = hex(msg.ID)if len(msg_id[2:]) == 7:msg_dict["CANID"] = '0' + msg_id[2:].upper()else:msg_dict["CANID"] = msg_id[2:].upper()msg_dict["MSGTYPE"] = msg.MSGTYPEmsg_dict["LEN"] = msg.LENdata = ''for i in range(8):if len(hex(msg.DATA[i])[2:]) == 1:d = ' ' + '0' + hex(msg.DATA[i])[2:].upper()else:d = ' ' + hex(msg.DATA[i])[2:].upper()data += dmsg_dict["DATA"] = data[1:]timestamp_dict = {}timestamp_dict['millis'] = timestamp.millistimestamp_dict['millis_overflow'] = timestamp.millis_overflowtimestamp_dict['micros'] = timestamp.microstime_sum = timestamp.micros + 1000 * timestamp.millis + 0x100000000 * 1000 * timestamp.millis_overflowreturn msg_dictdef PutQueue(self):"""从总线中读取CAN消息及其时间戳，并放入队列。"""while True:"""检查接收队列是否有新消息"""readResult = self.GetStatus(PCAN_USBBUS1)if readResult != PCAN_ERROR_OK:result = self.GetErrorText(readResult)print(result[1])event2.set()else:readResult = self.Read(PCAN_USBBUS1)  # 接收总线报文time.sleep(0.01)if readResult[0] != PCAN_ERROR_QRCVEMPTY:print("消息入队")q.put(self.ProcessMessage(readResult[1], readResult[2]))  # 消息入队event1.set()else:result = self.GetErrorText(readResult[0])print(result[1])event2.set()breakdef GetQueue(self):"""从队列中获取信息"""while True:if event2.is_set():breakif not q.empty():event1.wait()print(q.get())  # 消息出队def GetXmtMsg(self):"""获取xmt文件中需要发送的消息"""with open(os.path.join(os.getcwd(), 'zuidazhi.xmt'), 'r+') as f:fo = f.readlines()allcandata = []for i, j in enumerate(fo, start=1):onecandata = {}if i > 14:f1 = j.strip().split()if len(f1) == 14:  # 获取长度为8的dataonecandata['cycle'] = (int(f1[3]))msg = TPCANMsg()msg.ID = int(f1[1][:-1], 16)msg.MSGTYPE = PCAN_MESSAGE_EXTENDEDmsg.LEN = int(f1[4])msg.DATA[0] = int(f1[6][:-1], 16)msg.DATA[1] = int(f1[7][:-1], 16)msg.DATA[2] = int(f1[8][:-1], 16)msg.DATA[3] = int(f1[9][:-1], 16)msg.DATA[4] = int(f1[10][:-1], 16)msg.DATA[5] = int(f1[11][:-1], 16)msg.DATA[6] = int(f1[12][:-1], 16)msg.DATA[7] = int(f1[13][:-1], 16)onecandata['msg'] = msgallcandata.append(onecandata)return allcandatadef CanWrite(self):"""发送CAN消息"""allcandata = self.GetXmtMsg()print(allcandata)if len(allcandata) > 0:for i in allcandata:result = self.Write(PCAN_USBBUS1, i['msg'])currenttime = int(round(time.time() * 1000))i['currenttime'] = currenttimeif result != PCAN_ERROR_OK:result = self.GetErrorText(result)print(result)else:print("时间戳记录成功")time.sleep(1)while True:currenttime = int(round(time.time() * 1000))for i in allcandata:interval = currenttime - i['currenttime']if interval >= i['cycle']:result = self.Write(PCAN_USBBUS1, i['msg'])  # 写if result != PCAN_ERROR_OK:result = self.GetErrorText(result)print(result)else:print("消息发送成功")i['currenttime'] = currenttimedef __del__(self):result = self.Uninitialize(PCAN_USBBUS1)  # 总线释放if result != PCAN_ERROR_OK:result = self.GetErrorText(result)print(result[1])else:print("PCAN-USB 已释放")if __name__ == '__main__':q = Queue()event1 = threading.Event()event2 = threading.Event()pcan = PcanOperate()# s1 = threading.Thread(target=pcan.CanWrite, name="发送CAN消息线程")# s1.start()s2 = threading.Thread(target=pcan.PutQueue, name="读取CAN消息并放入队列线程")s2.start()s3 = threading.Thread(target=pcan.GetQueue, name="从队列中读取CAN消息线程")s3.start()