Add BitTiming/BitTimingFd support to VectorBus (#1470)

* add BitTiming parameter to VectorBus

* use correct interface_version

* implement tests for bittiming classes with vector

Author: zariiii9003

can/interfaces/vector/canlib.py

@@ -37,12 +37,20 @@
 
 # Import Modules
 # ==============
-from can import BusABC, Message, CanInterfaceNotImplementedError, CanInitializationError
+from can import (
+    BusABC,
+    Message,
+    CanInterfaceNotImplementedError,
+    CanInitializationError,
+    BitTiming,
+    BitTimingFd,
+)
 from can.util import (
     len2dlc,
     dlc2len,
     deprecated_args_alias,
     time_perfcounter_correlation,
+    check_or_adjust_timing_clock,
 )
 from can.typechecking import AutoDetectedConfig, CanFilters
 
@@ -86,6 +94,7 @@ def __init__(
         can_filters: Optional[CanFilters] = None,
         poll_interval: float = 0.01,
         receive_own_messages: bool = False,
+        timing: Optional[Union[BitTiming, BitTimingFd]] = None,
         bitrate: Optional[int] = None,
         rx_queue_size: int = 2**14,
         app_name: Optional[str] = "CANalyzer",
@@ -108,6 +117,15 @@ def __init__(
             See :class:`can.BusABC`.
         :param receive_own_messages:
             See :class:`can.BusABC`.
+        :param timing:
+            An instance of :class:`~can.BitTiming` or :class:`~can.BitTimingFd`
+            to specify the bit timing parameters for the VectorBus interface. The
+            `f_clock` value of the timing instance must be set to 16.000.000 (16MHz)
+            for standard CAN or 80.000.000 (80MHz) for CAN FD. If this parameter is provided,
+            it takes precedence over all other timing-related parameters.
+            Otherwise, the bit timing can be specified using the following parameters:
+            `bitrate` for standard CAN or `fd`, `data_bitrate`, `sjw_abr`, `tseg1_abr`,
+            `tseg2_abr`, `sjw_dbr`, `tseg1_dbr`, and `tseg2_dbr` for CAN FD.
         :param poll_interval:
             Poll interval in seconds.
         :param bitrate:
@@ -184,7 +202,7 @@ def __init__(
         channel_configs = get_channel_configs()
 
         self.mask = 0
-        self.fd = fd
+        self.fd = isinstance(timing, BitTimingFd) if timing else fd
         self.channel_masks: Dict[int, int] = {}
         self.index_to_channel: Dict[int, int] = {}
 
@@ -204,12 +222,12 @@ def __init__(
 
         permission_mask = xlclass.XLaccess()
         # Set mask to request channel init permission if needed
-        if bitrate or fd:
+        if bitrate or fd or timing:
             permission_mask.value = self.mask
 
         interface_version = (
             xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4
-            if fd
+            if self.fd
             else xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION
         )
 
@@ -233,7 +251,30 @@ def __init__(
 
         # set CAN settings
         for channel in self.channels:
-            if fd:
+            if isinstance(timing, BitTiming):
+                timing = check_or_adjust_timing_clock(timing, [16_000_000])
+                self._set_bitrate_can(
+                    channel=channel,
+                    bitrate=timing.bitrate,
+                    sjw=timing.sjw,
+                    tseg1=timing.tseg1,
+                    tseg2=timing.tseg2,
+                    sam=timing.nof_samples,
+                )
+            elif isinstance(timing, BitTimingFd):
+                timing = check_or_adjust_timing_clock(timing, [80_000_000])
+                self._set_bitrate_canfd(
+                    channel=channel,
+                    bitrate=timing.nom_bitrate,
+                    data_bitrate=timing.data_bitrate,
+                    sjw_abr=timing.nom_sjw,
+                    tseg1_abr=timing.nom_tseg1,
+                    tseg2_abr=timing.nom_tseg2,
+                    sjw_dbr=timing.data_sjw,
+                    tseg1_dbr=timing.data_tseg1,
+                    tseg2_dbr=timing.data_tseg2,
+                )
+            elif fd:
                 self._set_bitrate_canfd(
                     channel=channel,
                     bitrate=bitrate,

test/test_vector.py

@@ -270,6 +270,154 @@ def test_bus_creation_fd_bitrate_timings() -> None:
     bus.shutdown()
 
 
+def test_bus_creation_timing_mocked(mock_xldriver) -> None:
+    timing = can.BitTiming.from_bitrate_and_segments(
+        f_clock=16_000_000,
+        bitrate=125_000,
+        tseg1=13,
+        tseg2=2,
+        sjw=1,
+    )
+    bus = can.Bus(channel=0, interface="vector", timing=timing, _testing=True)
+    assert isinstance(bus, canlib.VectorBus)
+    can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called()
+    can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called()
+
+    can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called()
+    xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0]
+    assert xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION.value
+    assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value
+
+    can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_not_called()
+    can.interfaces.vector.canlib.xldriver.xlCanSetChannelParams.assert_called()
+    chip_params = (
+        can.interfaces.vector.canlib.xldriver.xlCanSetChannelParams.call_args[0]
+    )[2]
+    assert chip_params.bitRate == 125_000
+    assert chip_params.sjw == 1
+    assert chip_params.tseg1 == 13
+    assert chip_params.tseg2 == 2
+    assert chip_params.sam == 1
+
+
+@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
+def test_bus_creation_timing() -> None:
+    timing = can.BitTiming.from_bitrate_and_segments(
+        f_clock=16_000_000,
+        bitrate=125_000,
+        tseg1=13,
+        tseg2=2,
+        sjw=1,
+    )
+    bus = can.Bus(
+        channel=0,
+        serial=_find_virtual_can_serial(),
+        interface="vector",
+        timing=timing,
+    )
+    assert isinstance(bus, canlib.VectorBus)
+
+    xl_channel_config = _find_xl_channel_config(
+        serial=_find_virtual_can_serial(), channel=0
+    )
+    assert xl_channel_config.busParams.data.can.bitRate == 125_000
+    assert xl_channel_config.busParams.data.can.sjw == 1
+    assert xl_channel_config.busParams.data.can.tseg1 == 13
+    assert xl_channel_config.busParams.data.can.tseg2 == 2
+
+    bus.shutdown()
+
+
+def test_bus_creation_timingfd_mocked(mock_xldriver) -> None:
+    timing = can.BitTimingFd.from_bitrate_and_segments(
+        f_clock=80_000_000,
+        nom_bitrate=500_000,
+        nom_tseg1=68,
+        nom_tseg2=11,
+        nom_sjw=10,
+        data_bitrate=2_000_000,
+        data_tseg1=10,
+        data_tseg2=9,
+        data_sjw=8,
+    )
+    bus = can.Bus(
+        channel=0,
+        interface="vector",
+        timing=timing,
+        _testing=True,
+    )
+    assert isinstance(bus, canlib.VectorBus)
+    can.interfaces.vector.canlib.xldriver.xlOpenDriver.assert_called()
+    can.interfaces.vector.canlib.xldriver.xlGetApplConfig.assert_called()
+
+    can.interfaces.vector.canlib.xldriver.xlOpenPort.assert_called()
+    xlOpenPort_args = can.interfaces.vector.canlib.xldriver.xlOpenPort.call_args[0]
+    assert (
+        xlOpenPort_args[5] == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4.value
+    )
+
+    assert xlOpenPort_args[6] == xldefine.XL_BusTypes.XL_BUS_TYPE_CAN.value
+
+    can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.assert_called()
+    can.interfaces.vector.canlib.xldriver.xlCanSetChannelBitrate.assert_not_called()
+
+    xlCanFdSetConfiguration_args = (
+        can.interfaces.vector.canlib.xldriver.xlCanFdSetConfiguration.call_args[0]
+    )
+    canFdConf = xlCanFdSetConfiguration_args[2]
+    assert canFdConf.arbitrationBitRate == 500_000
+    assert canFdConf.dataBitRate == 2_000_000
+    assert canFdConf.sjwAbr == 10
+    assert canFdConf.tseg1Abr == 68
+    assert canFdConf.tseg2Abr == 11
+    assert canFdConf.sjwDbr == 8
+    assert canFdConf.tseg1Dbr == 10
+    assert canFdConf.tseg2Dbr == 9
+
+
+@pytest.mark.skipif(not XLDRIVER_FOUND, reason="Vector XL API is unavailable")
+def test_bus_creation_timingfd() -> None:
+    timing = can.BitTimingFd.from_bitrate_and_segments(
+        f_clock=80_000_000,
+        nom_bitrate=500_000,
+        nom_tseg1=68,
+        nom_tseg2=11,
+        nom_sjw=10,
+        data_bitrate=2_000_000,
+        data_tseg1=10,
+        data_tseg2=9,
+        data_sjw=8,
+    )
+    bus = can.Bus(
+        channel=0,
+        serial=_find_virtual_can_serial(),
+        interface="vector",
+        timing=timing,
+    )
+
+    xl_channel_config = _find_xl_channel_config(
+        serial=_find_virtual_can_serial(), channel=0
+    )
+    assert (
+        xl_channel_config.interfaceVersion
+        == xldefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4
+    )
+    assert (
+        xl_channel_config.busParams.data.canFD.canOpMode
+        & xldefine.XL_CANFD_BusParams_CanOpMode.XL_BUS_PARAMS_CANOPMODE_CANFD
+    )
+    assert xl_channel_config.busParams.data.canFD.arbitrationBitRate == 500_000
+    assert xl_channel_config.busParams.data.canFD.sjwAbr == 10
+    assert xl_channel_config.busParams.data.canFD.tseg1Abr == 68
+    assert xl_channel_config.busParams.data.canFD.tseg2Abr == 11
+    assert xl_channel_config.busParams.data.canFD.sjwDbr == 8
+    assert xl_channel_config.busParams.data.canFD.tseg1Dbr == 10
+    assert xl_channel_config.busParams.data.canFD.tseg2Dbr == 9
+    assert xl_channel_config.busParams.data.canFD.dataBitRate == 2_000_000
+
+    bus.shutdown()
+
+
 def test_send_mocked(mock_xldriver) -> None:
     bus = can.Bus(channel=0, interface="vector", _testing=True)
     msg = can.Message(