.. _receiving-can-frame:

Receiving CAN frame
=======================

In this tutorial we will learn how to receive a CAN frame using neoVI hardware. 
We are going to assume the script is connected to a HW that receiving CAN frames.


1. Initialize |project|
-----------------------

First step we need to initialize a new instance of the :py:class:`vspyx.Core.Application`.

.. code:: python

	import vspyx
	
	if 'app' not in globals():
		global app
		app = vspyx.Core.Application.New()
		app.Initialize(loadAllModules=True)
		

2. Setup the Hardware
---------------------

To use the hardware, first we need to activate it, create a controller and connect the desired hardware channel to the controller. :py:class:`vspyx.VehicleSpy.Module.AddSource()`

.. code:: python

    device = app.VehicleSpy.AddSource("hardware sn") # Activates HW
    channel = app.Resolver[f'{device.Source.Identifier} {"Channel Name"} Discovery Channel']
	
Now we need to create a controller and connect it to a channel: :py:class:`vspyx.Communication.Channel.NewAttachedController()`

.. code:: python

	[controller, connector] = channel.NewAttachedController('controller name', listenOnly=False) # creates controller and connects it to HW channel
	
3. Create a Report
-------------------

Next we need to create a function that accesses and logs the incoming CAN traffic :py:class:`vspyx.Communication.DataLinkPDUPoint`

.. code:: python

	def report(point: vspyx.Runtime.Point):
		if not isinstance(point, vspyx.Communication.DataLinkPDUPoint):
			return
		
		print(f"{point.GetAttribute('ShortName')} {point.GetAttribute('ArbID')}\
				{point.GetAttribute('Length')} {point.GetAttribute('Payload')}\
				{point.GetAttribute('ChannelName')} {point.GetAttribute('WireType')}\
				{point.GetAttribute('DLC')} {point.GetAttribute('Timestamp')}")
				


4. Go Online with Hardware
-----------------------------

We're going to use :py:class:`report` function made in step3 to log and monitor the incoming data.

.. code:: python

    observer = app.VehicleSpy.PrepareForStart(analysisMode=False)
    observer.OnPoint.Add(report)
    app.VehicleSpy.Start()
    app.VehicleSpy.Scheduler.Wait(vspyx.Core.Event()) 

Complete Example:
-----------------

.. code:: python

	import vspyx

	hardware_sn = 'icsneo **1' # wildcard to connect to first device
	channel_name = 'HSCAN'

	def setup_hw():

		device = app.VehicleSpy.AddSource(hardware_sn) #activate hw
		channel = app.Resolver[f'{device.Source.Identifier} {channel_name} Discovery Channel']
		return channel

	def report(point: vspyx.Runtime.Point):
		if not isinstance(point, vspyx.Communication.DataLinkPDUPoint):
			return
		
		print(f"{point.GetAttribute('ShortName')} {point.GetAttribute('ArbID')}\
				{point.GetAttribute('Length')} {point.GetAttribute('Payload')}\
				{point.GetAttribute('ChannelName')} {point.GetAttribute('WireType')}\
				{point.GetAttribute('DLC')} {point.GetAttribute('Timestamp')}")    
	  
	def connect_to_controller(channel):
		[controller, connector] = channel.NewAttachedController('my_setup', listenOnly=False)
		return controller    

	def go_online(): 
		observer = app.VehicleSpy.PrepareForStart(analysisMode=False)
		observer.OnPoint.Add(report)
		app.VehicleSpy.Start()
		app.VehicleSpy.Scheduler.Wait(vspyx.Core.Event())

	def main(): 

		if 'app' not in globals():
			global app
			app = vspyx.Core.Application.New()
			app.Initialize(loadAllModules=True)

		print(f'Version: {app.Version}')    

		channel = setup_hw()
		controller = connect_to_controller(channel)
		go_online()

	if __name__ == '__main__':
		main()