SEND_PERIODIC_CAN_MESSAGE

Send a periodic message to a CAN bus. Send a message to a CAN device periodically. This block should be compatible with all devices that support the CAN interface. `STOP_SEND_PERIODIC_CAN_MESSAGE` can be used to stop sending the messages. A connection to the device is required. Use a CAN_CONNECT block to connect to a CAN device. Params: CAN_address : str The CAN device address to connect to. message : Stateful A list of messages to send to the CAN device. period : float The period in seconds between messages. duration : Optional float Approximate duration in seconds to continue sending messages. If no duration is provided, the task will continue indefinitely. Returns: out : DataContainer Optional: None

Python Code

from typing import Optional
from flojoy import flojoy, DeviceConnectionManager, Stateful, DataContainer
import can


@flojoy(deps={"python-can": "4.3.1"})
def SEND_PERIODIC_CAN_MESSAGE(
    CAN_address: str,
    message: Stateful,
    period: float,
    duration: Optional[float] = None,
    default: Optional[DataContainer] = None,
) -> Optional[DataContainer]:
    """Send a periodic message to a CAN bus.

    Send a message to a CAN device periodically. This block should be compatible with all devices that support the CAN interface.
    `STOP_SEND_PERIODIC_CAN_MESSAGE` can be used to stop sending the messages.

    A connection to the device is required. Use a CAN_CONNECT block to connect to a CAN device.

    Parameters
    ----------
    CAN_address : str
        The CAN device address to connect to.
    message : Stateful
        A list of messages to send to the CAN device.
    period: float
        The period in seconds between messages.
    duration: Optional float
        Approximate duration in seconds to continue sending messages. If no duration is provided, the task will continue indefinitely.

    Returns
    -------
    DataContainer
        Optional: None
    """
    connection: can.interface.Bus = DeviceConnectionManager.get_connection(
        CAN_address
    ).get_handle()

    connection.send_periodic(message.obj, period, duration=duration)

    return None

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Example

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This example shows how to send a frame to a CAN bus using the CANable USB-to-CAN adapter. The application sends a first frame intended to indicate the start of a test on a system. Subsequently, the application sends a burst of messages and then sends a frame to indicate the end of the test.

This application uses an CANABLE_CONNECT block to establish a connection to the CAN bus, but this connection could be replaced by any other connection. For example, the PEAK_CONNECT block could be used instead.