Enable echo frames in PCAN driver if receive_own_messages is set

[tttech-ferdigg]

This allows the reception of messages sent over the interface. Before, setting the parameter receive_own_messages did not have any effect for the PCAN interface.

Tested with PEAK PCAN-USB FD dongle, Firmware version 3.2.0

[zariiii9003]

Run ruff check --fix ./can to fix the static code analysis. The failing PyPy tests are unrelated, you can ignore those.

[lumagi]

This looks nice. I can test it next week.

[lumagi]

import can


def main():
    bus1 = can.Bus(
        interface="pcan", channel="PCAN_USBBUS1", bitrate=500000, receive_own_messages=True
    )
    bus2 = can.Bus(
        interface="pcan", channel="PCAN_USBBUS2", bitrate=500000, receive_own_messages=False
    )

    msg1 = can.Message(arbitration_id=0x123, is_fd=False, data=b'hello')
    msg2 = can.Message(arbitration_id=0x123, is_fd=False, data=b'world')
    bus1.send(msg1)
    
    print(bus1.recv(0.1))
    print(bus1.recv(0.1))
    print(bus2.recv(0.1))
    print(bus2.recv(0.1))
    
    bus2.send(msg2)
    
    print(bus1.recv(0.1))
    print(bus1.recv(0.1))
    print(bus2.recv(0.1))
    print(bus2.recv(0.1))


if __name__ == "__main__":
    main()

I did a back-to-back test with two PCAN interfaces, and the output I got was the following:

Timestamp: 1705482812.765127    ID: 00000123    X Rx                DL:  5    68 65 6c 6c 6f              'hello'
None
Timestamp: 1705482812.765166    ID: 00000123    X Rx                DL:  5    68 65 6c 6c 6f              'hello'
None
Timestamp: 1705482812.970332    ID: 00000123    X Rx                DL:  5    77 6f 72 6c 64              'world'
None
None
None

So, it looks like it's working as intended.

[zariiii9003]

Is it possible to detect the message direction to set the is_rx attribute of Message?

[tttech-ferdigg]

Is it possible to detect the message direction to set the is_rx attribute of Message?

I will check.

[tttech-ferdigg]

Works :)

[lumagi]

Same here:

Timestamp: 1705497322.812748    ID: 00000123    X Tx                DL:  5    68 65 6c 6c 6f              'hello'
None
Timestamp: 1705497322.812736    ID: 00000123    X Rx                DL:  5    68 65 6c 6c 6f              'hello'
None
Timestamp: 1705497323.015279    ID: 00000123    X Rx                DL:  5    77 6f 72 6c 64              'world'
None
None
None

[tttech-ferdigg]

Thank you for your efforts and keep up the great work :)