cantools Documentation

Release 39.4.3.dev10+gcc02988

Erik Moqvist

Jan 15, 2024

 CONTENTS

1 About 3

2 Installation 5

3 Example usage 7
3.1 Scripting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2 Command line tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4 Contributing 15

5 Functions and classes 17

6 Coding style 35

7 Tips and tricks 37

Index 39

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CONTENTS 1
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2 CONTENTS
 CHAPTER

ONE

ABOUT

CAN BUS tools in Python 3.

• DBC, KCD, SYM, ARXML 3&4 and CDD file parsing.
• CAN message encoding and decoding.
• Simple and extended signal multiplexing.
• Diagnostic DID encoding and decoding.
• candump output decoder.
• Node tester.
• C source code generator.
• CAN bus monitor.
• Graphical plots of signals.
Project homepage: [Link]
Documentation: [Link]

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4 Chapter 1. About
 CHAPTER

TWO

INSTALLATION

python3 -m pip install cantools

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6 Chapter 2. Installation
 CHAPTER

THREE

EXAMPLE USAGE

3.1 Scripting

The example starts by parsing a small DBC-file and printing its messages and signals.

>>> import cantools

>>> from pprint import pprint
>>> db = [Link].load_file('tests/files/dbc/[Link]')
>>> [Link]
[message('ExampleMessage', 0x1f0, False, 8, 'Example message used as template in␣
˓→MotoHawk models.')]

>>> example_message = db.get_message_by_name('ExampleMessage')

>>> pprint(example_message.signals)
[signal('Enable', 7, 1, 'big_endian', False, 1.0, 0, 0.0, 0.0, '-', False, None, {0:
˓→'Disabled', 1: 'Enabled'}, None),

signal('AverageRadius', 6, 6, 'big_endian', False, 0.1, 0, 0.0, 5.0, 'm', False, None,␣

˓→None, ''),

signal('Temperature', 0, 12, 'big_endian', True, 0.01, 250, 229.53, 270.47, 'degK',␣

˓→False, None, None, None)]

The example continues encoding a message and sending it on a CAN bus using the python-can package.

>>> import can

>>> can_bus = [Link]('vcan0', bustype='socketcan')
>>> data = example_message.encode({'Temperature': 250.1, 'AverageRadius': 3.2, 'Enable':␣
˓→1})

>>> message = [Link](arbitration_id=example_message.frame_id, data=data)

>>> can_bus.send(message)

Alternatively, a message can be encoded using the encode_message() method on the database object.
The last part of the example receives and decodes a CAN message.

>>> message = can_bus.recv()

>>> db.decode_message(message.arbitration_id, [Link])
{'AverageRadius': 3.2, 'Enable': 'Enabled', 'Temperature': 250.09}

See examples for additional examples.

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3.2 Command line tool

3.2.1 The decode subcommand

Decode CAN frames captured with the Linux program candump.

$ candump vcan0 | python3 -m cantools decode tests/files/dbc/[Link]

vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 ::
ExampleMessage(
Enable: 'Enabled' -,
AverageRadius: 0.0 m,
Temperature: 255.92 degK
)
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 ::
ExampleMessage(
Enable: 'Enabled' -,
AverageRadius: 0.0 m,
Temperature: 255.92 degK
)
vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 ::
ExampleMessage(
Enable: 'Enabled' -,
AverageRadius: 0.0 m,
Temperature: 255.92 degK
)

Alternatively, the decoded message can be printed on a single line:

$ candump vcan0 | python3 -m cantools decode --single-line tests/files/dbc/[Link]

vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 :: ExampleMessage(Enable: 'Enabled' -,␣
˓→AverageRadius: 0.0 m, Temperature: 255.92 degK)

vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 :: ExampleMessage(Enable: 'Enabled' -,␣

˓→AverageRadius: 0.0 m, Temperature: 255.92 degK)

vcan0 1F0 [8] 80 4A 0F 00 00 00 00 00 :: ExampleMessage(Enable: 'Enabled' -,␣

˓→AverageRadius: 0.0 m, Temperature: 255.92 degK)

3.2.2 The plot subcommand

The plot subcommand is similar to the decode subcommand but messages are visualized using matplotlib instead of
being printed to stdout.

$ candump -l vcan0
$ cat candump-2021-01-04_180521.log
(1609779922.655421) vcan0 00000343#B204B9049C049C04
(1609779922.655735) vcan0 0000024A#120527052E051905
(1609779923.657524) vcan0 00000343#C404C404CB04C404
(1609779923.658086) vcan0 0000024A#8B058B058B059205
(1609779924.659912) vcan0 00000343#5C04790479045504
(1609779924.660471) vcan0 0000024A#44064B0659064406
(1609779925.662277) vcan0 00000343#15040704F203F203
(1609779925.662837) vcan0 0000024A#8B069906A706A706
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(1609779926.664191) vcan0 00000343#BC03B503A703BC03
(1609779926.664751) vcan0 0000024A#A006A706C406C406

$ cat candump-2021-01-04_180521.log | python3 -m cantools plot tests/files/dbc/[Link]

If you don’t want to show all signals you can select the desired signals with command line arguments. A * can stand for
any number of any character, a ? for exactly one arbitrary character. Signals separated by a - are displayed in separate
subplots. Optionally a format can be specified after a signal, separated by a colon.

$ cat candump-2021-01-04_180521.log | python3 -m cantools plot tests/files/dbc/[Link]

˓→'*33.*fl:-<' '*33.*fr:->' - '*33.*rl:-<' '*33.*rr:->'

Signals with a different range of values can be displayed in the same subplot on different vertical axes by separating
them with a comma.

$ cat candump-2021-01-04_180521.log | cantools plot --auto-color tests/files/dbc/[Link]␣

˓→-- \

--ylabel 'Bremse 33' '*_33.*fl*:-<' '*_33.*fr*:>' '*_33.*rl*:3' '*_33.*rr*:4' , \

--ylabel 'Bremse 2' '*_2.*fl*:-<' '*_2.*fr*:>' '*_2.*rl*:3' '*_2.*rr*:4'

Matplotlib comes with different preinstalled styles that you can use:

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$ cat candump-2021-01-04_180521.log | cantools plot tests/files/dbc/[Link] --style␣

˓→seaborn

You can try all available styles with

$ cantools plot --list-styles . | sed -n '/^- /s/^- //p' | while IFS= read -r style; do
cat candump-2021-01-04_180521.log | cantools plot tests/files/dbc/[Link] --style "
˓→$style" --title "--style '$style'"

done

For more information see

$ python3 -m cantools plot --help

Note that by default matplotlib is not installed with cantools. But it can be by specifying an extra at installation:

$ python3 -m pip install cantools[plot]

3.2.3 The dump subcommand

Dump given database in a human readable format:

$ python3 -m cantools dump tests/files/dbc/[Link]

================================= Messages =================================

------------------------------------------------------------------------

Name: ExampleMessage
Id: 0x1f0
Length: 8 bytes
Cycle time: - ms
Senders: PCM1
Layout:

Bit

7 6 5 4 3 2 1 0
+---+---+---+---+---+---+---+---+
0 |<-x|<---------------------x|<--|
+---+---+---+---+---+---+---+---+
| +-- AverageRadius
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+-- Enable
+---+---+---+---+---+---+---+---+
1 |-------------------------------|
+---+---+---+---+---+---+---+---+
2 |----------x| | | | | |
B +---+---+---+---+---+---+---+---+
y +-- Temperature
t +---+---+---+---+---+---+---+---+
e 3 | | | | | | | | |
+---+---+---+---+---+---+---+---+
4 | | | | | | | | |
+---+---+---+---+---+---+---+---+
5 | | | | | | | | |
+---+---+---+---+---+---+---+---+
6 | | | | | | | | |
+---+---+---+---+---+---+---+---+
7 | | | | | | | | |
+---+---+---+---+---+---+---+---+

Signal tree:

-- {root}
+-- Enable
+-- AverageRadius
+-- Temperature

Signal choices:

Enable
0 Disabled
1 Enabled

------------------------------------------------------------------------

3.2.4 The list subcommand

Print all information of a given database in a human readable format. This is very similar to the “dump” subcommand,
but the output is less pretty, slightly more comprehensive and easier to parse by shell scripts:

$ python3 -m cantools list -a tests/files/dbc/[Link]

ExampleMessage:
Comment[None]: Example message used as template in MotoHawk models.
Frame ID: 0x1f0 (496)
Size: 8 bytes
Is extended frame: False
Signals:
Enable:
Type: Integer
Start bit: 7
Length: 1 bits
Unit: -
(continues on next page)

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Is signed: False
Named values:
0: Disabled

3.2.5 The generate C source subcommand

Generate C source code from given database.

The generated code contains:
• Message structs.
• Message pack and unpack functions.
• Signal encode and decode functions.
• Frame id, length, type, cycle time and signal choices defines.
Known limitations:
• The maximum signal size is 64 bits, which in practice is never exceeded.
Below is an example of how to generate C source code from a database. The database is tests/files/dbc/
[Link].

$ python3 -m cantools generate_c_source tests/files/dbc/[Link]

Successfully generated motohawk.h and motohawk.c.

See motohawk.h and motohawk.c for the contents of the generated files.
In this example we use --use-float so floating point numbers in the generated code are single precision (float)
instead of double precision (double).

$ python3 -m cantools generate_c_source --use-float tests/files/dbc/[Link]

Successfully generated motohawk.h and motohawk.c.

In the next example we use --database-name to set a custom namespace for all generated types, defines and functions.
The output file names are also changed by this option.

$ python3 -m cantools generate_c_source --database-name my_database_name tests/files/dbc/

˓→[Link]

Successfully generated my_database_name.h and my_database_name.c.

See my_database_name.h and my_database_name.c for the contents of the generated files.
In the next example we use --no-floating-point-numbers to generate code without floating point types, i.e. float
and double.

$ python3 -m cantools generate_c_source --no-floating-point-numbers tests/files/dbc/

˓→[Link]

Successfully generated motohawk.h and motohawk.c.

See motohawk_no_floating_point_numbers.h and motohawk_no_floating_point_numbers.c for the contents of the gen-

erated files.
In the last example --node is used to generate message pack functions only for messages sent by the specified node
and unpack functions only for messages with its signal receivers belonging to that node.

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$ cantools generate_c_source tests/files/dbc/[Link] --node PCM1

Successfully generated motohawk.h and motohawk.c.

See motohawk_sender_node.h and motohawk_sender_node.c for the contents of the generated files.
Other C code generators:
• [Link]
• [Link]
• [Link]
• [Link]

3.2.6 The monitor subcommand

Monitor CAN bus traffic in a text based user interface.

$ python3 -m cantools monitor tests/files/dbc/[Link]

The menu at the bottom of the monitor shows the available commands.
• Quit: Quit the monitor. Ctrl-C can be used as well.
• Filter: Only display messages matching given regular expression. Press <Enter> to return to the menu from the
filter input line.
• Play/Pause: Toggle between playing and paused (or running and freezed).
• Reset: Reset the monitor to its initial state.

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 CHAPTER

FOUR

CONTRIBUTING

1. Fork the repository.

2. Install prerequisites.

python3 -m pip install -e .[dev]

3. Implement the new feature or bug fix.

4. Implement test case(s) to ensure that future changes do not break legacy.
5. Run the linters

ruff check src

mypy src

6. Run the tests.

tox -e py

7. Create a pull request.

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FIVE

FUNCTIONS AND CLASSES

[Link].load_file(filename, database_format=None, encoding=None, frame_id_mask=None,

prune_choices=False, strict=True, cache_dir=None, sort_signals=<function
sort_signals_by_start_bit>)
Open, read and parse given database file and return a [Link] or [Link] object with
its contents.
database_format is one of 'arxml', 'dbc', 'kcd', 'sym', cdd and None. If None, the database format is
selected based on the filename extension as in the table below. Filename extensions are case insensitive.

Extension Database format

.arxml 'arxml'
.dbc 'dbc'
.kcd 'kcd'
.sym 'sym'
.cdd 'cdd'
<unknown> None

encoding specifies the file encoding. If None, the encoding is selected based on the database format as in the
table below. Use open() and load() if platform dependent encoding is desired.

Database format Default encoding

'arxml' 'utf-8'
'dbc' 'cp1252'
'kcd' 'utf-8'
'sym' 'cp1252'
'cdd' 'utf-8'
None 'utf-8'

prune_choices abbreviates the names of choices by removing a common prefix ending on an underscore. If you
want to have the original names you need to pass prune_choices = False.
cache_dir specifies the database cache location in the file system. Give as None to disable the cache. By default
the cache is disabled. The cache key is the contents of given file. Using a cache will significantly reduce the load
time when reloading the same file. The cache directory is automatically created if it does not exist. Remove the
cache directory cache_dir to clear the cache.
See load_string() for descriptions of other arguments.
Raises an UnsupportedDatabaseFormatError exception if given file does not contain a supported database
format.

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>>> db = [Link].load_file('[Link]')
>>> [Link]
'1.0'

[Link].dump_file(database, filename, database_format=None, encoding=None,

sort_signals='default')
Dump given database database to given file filename.
Depending on the output file format signals may be sorted by default. If you don’t want signals to be sorted
pass sort_signals=None. sort_signals=None is assumed by default if you have passed sort_signals=None to
load_file. If you want the signals to be sorted in a special way pass something like sort_signals = lambda
signals: list(sorted(signals, key=lambda sig: [Link])) For dbc files the default is to sort the signals by their
start bit in descending order. For kcd files the default is to not sort the signals.
See load_file() for descriptions of other arguments.
The 'dbc' database format will always have Windows-style line endings (\r\n). For other database formats the
line ending depends on the operating system.

>>> db = [Link].load_file('[Link]')
>>> [Link].dump_file(db, '[Link]')

Pass sort_signals=None, prune_choices=False to load_file in order to minimize the differences between [Link]
and [Link].
[Link].load_string(string, database_format=None, frame_id_mask=None, prune_choices=False,
strict=True, sort_signals=<function sort_signals_by_start_bit>)
Parse given database string and return a [Link] or [Link] object with its contents.
database_format may be one of 'arxml', 'dbc', 'kcd', 'sym', 'cdd' or None, where None means transparent
format.
prune_choices is a bool indicating whether signal names are supposed to be abbreviated by stripping a common
prefix ending on an underscore. This is enabled by default.
See [Link] for a description of strict.
sort_signals is a function taking a list of signals as argument and returning a list of signals. By default signals are
sorted by their start bit when their Message object is created. If you don’t want them to be sorted pass sort_signals
= None. If you want the signals to be sorted in another way pass something like sort_signals = lambda signals:
list(sorted(signals, key=lambda sig: [Link]))
Raises an UnsupportedDatabaseFormatError exception if given string does not contain a supported database
format.

>>> with open('[Link]') as fin:

... db = [Link].load_string([Link]())
>>> [Link]
'1.0'

[Link](fp, database_format=None, frame_id_mask=None, prune_choices=False, strict=True,

sort_signals=<function sort_signals_by_start_bit>)
Read and parse given database file-like object and return a [Link] or [Link] object
with its contents.
See load_string() for descriptions of other arguments.
Raises an UnsupportedDatabaseFormatError exception if given file-like object does not contain a supported
database format.

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>>> with open('[Link]') as fin:

... db = [Link](fin)
>>> [Link]
None

class [Link](messages=None, nodes=None, buses=None, version=None,

dbc_specifics=None, autosar_specifics=None,
frame_id_mask=None, strict=True, sort_signals=<function
sort_signals_by_start_bit>)
This class contains all messages, signals and definitions of a CAN network.
The factory functions load(), load_file() and load_string() returns instances of this class.
If strict is True an exception is raised if any signals are overlapping or if they don’t fit in their message.
By default signals are sorted by their start bit when their Message object is created. If you don’t want them to
be sorted pass sort_signals = None. If you want the signals to be sorted in another way pass something like
sort_signals = lambda signals: list(sorted(signals, key=lambda sig: [Link]))
property messages
A list of messages in the database.
Use get_message_by_frame_id() or get_message_by_name() to find a message by its frame id or
name.
property nodes
A list of nodes in the database.
property buses
A list of CAN buses in the database.
property version
The database version, or None if unavailable.
property dbc
An object containing dbc specific properties like e.g. attributes.
property autosar
An object containing AUTOSAR specific properties like e.g. attributes.
is_similar(other, *, tolerance=1e-12, include_format_specifics=True)
Compare two database objects inexactly
This means that small discrepanceies stemming from e.g. rounding errors are ignored.
add_arxml(fp)
Read and parse ARXML data from given file-like object and add the parsed data to the database.
add_arxml_file(filename, encoding='utf-8')
Open, read and parse ARXML data from given file and add the parsed data to the database.
encoding specifies the file encoding.
add_arxml_string(string)
Parse given ARXML data string and add the parsed data to the database.
add_dbc(fp)
Read and parse DBC data from given file-like object and add the parsed data to the database.

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>>> db = [Link]()
>>> with open ('[Link]', 'r') as fin:
... db.add_dbc(fin)

add_dbc_file(filename, encoding='cp1252')
Open, read and parse DBC data from given file and add the parsed data to the database.
encoding specifies the file encoding.

>>> db = [Link]()
>>> db.add_dbc_file('[Link]')

add_dbc_string(string)
Parse given DBC data string and add the parsed data to the database.

>>> db = [Link]()
>>> with open ('[Link]', 'r') as fin:
... db.add_dbc_string([Link]())

add_kcd(fp)
Read and parse KCD data from given file-like object and add the parsed data to the database.
add_kcd_file(filename, encoding='utf-8')
Open, read and parse KCD data from given file and add the parsed data to the database.
encoding specifies the file encoding.
add_kcd_string(string)
Parse given KCD data string and add the parsed data to the database.
add_sym(fp)
Read and parse SYM data from given file-like object and add the parsed data to the database.
add_sym_file(filename, encoding='utf-8')
Open, read and parse SYM data from given file and add the parsed data to the database.
encoding specifies the file encoding.
add_sym_string(string)
Parse given SYM data string and add the parsed data to the database.
as_dbc_string(*, sort_signals='default', sort_attribute_signals='default', sort_attributes=None,
sort_choices=None, shorten_long_names=True)
Return the database as a string formatted as a DBC file. sort_signals defines how to sort signals in message
definitions sort_attribute_signals defines how to sort signals in metadata -
comments, value table definitions and attributes
as_kcd_string(*, sort_signals='default')
Return the database as a string formatted as a KCD file.
as_sym_string(*, sort_signals='default')
Return the database as a string formatted as a SYM file.
get_message_by_name(name)
Find the message object for given name name.

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get_message_by_frame_id(frame_id)
Find the message object for given frame id frame_id.
get_node_by_name(name)
Find the node object for given name name.
get_bus_by_name(name)
Find the bus object for given name name.
encode_message(frame_id_or_name, data, scaling=True, padding=False, strict=True)
Encode given signal data data as a message of given frame id or name frame_id_or_name. For regular
Messages, data is a dictionary of signal name-value entries, for container messages it is a list of (Con-
tainedMessageOrMessageName, ContainedMessageSignals) tuples.
If scaling is False no scaling of signals is performed.
If padding is True unused bits are encoded as 1.
If strict is True all signal values must be within their allowed ranges, or an exception is raised.

>>> db.encode_message(158, {'Bar': 1, 'Fum': 5.0})

b'\x01\x45\x23\x00\x11'
>>> db.encode_message('Foo', {'Bar': 1, 'Fum': 5.0})
b'\x01\x45\x23\x00\x11'

decode_message(frame_id_or_name, data, decode_choices=True, scaling=True, decode_containers=False,

allow_truncated=False)
Decode given signal data data as a message of given frame id or name frame_id_or_name. Returns a
dictionary of signal name-value entries.
If decode_choices is False scaled values are not converted to choice strings (if available).
If scaling is False no scaling of signals is performed.

>>> db.decode_message(158, b'\x01\x45\x23\x00\x11')

{'Bar': 1, 'Fum': 5.0}
>>> db.decode_message('Foo', b'\x01\x45\x23\x00\x11')
{'Bar': 1, 'Fum': 5.0}

If decode_containers is True, container frames are decoded. The reason why this needs to be explic-
itly enabled is that decoding container frames returns a list of (Message, SignalsDict) tuples which
will cause code that does not expect this to misbehave. Trying to decode a container message with de-
code_containers set to False will raise a DecodeError.
refresh()
Refresh the internal database state.
This method must be called after modifying any message in the database to refresh the internal lookup
tables used when encoding and decoding messages.
class [Link](frame_id, name, length, signals, contained_messages=None,
header_id=None, header_byte_order='big_endian',
unused_bit_pattern=0, comment=None, senders=None,
send_type=None, cycle_time=None, dbc_specifics=None,
autosar_specifics=None, is_extended_frame=False, is_fd=False,
bus_name=None, signal_groups=None, strict=True, protocol=None,
sort_signals=<function sort_signals_by_start_bit>)
A CAN message with frame id, comment, signals and other information.

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If strict is True an exception is raised if any signals are overlapping or if they don’t fit in the message.
By default signals are sorted by their start bit when their Message object is created. If you don’t want them to
be sorted pass sort_signals = None. If you want the signals to be sorted in another way pass something like
sort_signals = lambda signals: list(sorted(signals, key=lambda sig: [Link]))
property header_id
The header ID of the message if it is part of a container message.
property header_byte_order
The byte order of the header ID of the message if it is part of a container message.
property frame_id
The message frame id.
property is_extended_frame
True if the message is an extended frame, False otherwise.
property is_fd
True if the message requires CAN-FD, False otherwise.
property name
The message name as a string.
property length
The message data length in bytes.
property signals
A list of all signals in the message.
property is_container
Returns if the message is a container message
property contained_messages
The list of messages potentially contained within this message
property unused_bit_pattern
The pattern used for unused bits of a message.
This prevents undefined behaviour and/or information leaks when encoding messages.
property signal_groups
A list of all signal groups in the message.
property comment
The message comment, or None if unavailable.
Note that we implicitly try to return the English comment if multiple languages were specified.
property comments
The dictionary with the descriptions of the message in multiple languages. None if unavailable.
property senders
A list of all sender nodes of this message.
property receivers
A set of all receiver nodes of this message.
This is equivalent to the set of nodes which receive at least one of the signals contained in the message.

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property send_type
The message send type, or None if unavailable.
property cycle_time
The message cycle time, or None if unavailable.
property dbc
An object containing dbc specific properties like e.g. attributes.
property autosar
An object containing AUTOSAR specific properties
e.g. auxiliary data required to implement CRCs, secure on-board communication (secOC) or container
messages.
property bus_name
The message bus name, or None if unavailable.
property protocol
The message protocol, or None if unavailable. Only one protocol is currently supported; 'j1939'.
property signal_tree
All signal names and multiplexer ids as a tree. Multiplexer signals are dictionaries, while other signals are
strings.

>>> foo = db.get_message_by_name('Foo')

>>> foo.signal_tree
['Bar', 'Fum']
>>> bar = db.get_message_by_name('Bar')
>>> bar.signal_tree
[{'A': {0: ['C', 'D'], 1: ['E']}}, 'B']

gather_signals(input_data, node=None)
Given a superset of all signals required to encode the message, return a dictionary containing exactly the
ones required.
If a required signal is missing from the input dictionary, a EncodeError exception is raised.
gather_container(contained_messages, signal_values)
Given a superset of all messages required to encode all messages featured by a container message, return a
list of (Message, SignalDict) tuples that can be passed to encode().
If a required signal is missing from the input dictionary, a EncodeError exception is raised.
assert_signals_encodable(input_data, scaling, assert_values_valid=True, assert_all_known=True)
Given a dictionary of signal name to signal value mappings, ensure that all the signals required for encoding
are present
As a minimum, all signals required to encode the message need to be specified. If they are not, a KeyError
or an EncodeError exception is raised.
Depending on the parameters specified, the data of the dictionary must adhere to additonal requirements:
Parameters
• scaling – If False no scaling of signals is performed.
• assert_values_valid – If True, the values of all specified signals must be
valid/encodable. If at least one is not, an EncodeError exception is raised. (Note that
the values of multiplexer selector signals must always be valid!)

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• assert_all_known – If True, all specified signals must be used by the encoding opera-
tion or an EncodeError exception is raised. This is useful to prevent typos.
assert_container_encodable(input_data, scaling, assert_values_valid=True, assert_all_known=True)
This method is identical to assert_signals_encodable() except that it is concerned with container
messages.
encode(data, scaling=True, padding=False, strict=True)
Encode given data as a message of this type.
If the message is an “ordinary” frame, this method expects a key-to-value dictionary as data which maps the
name of every required signal to a value that can be encoded by that signal. If the current message is a con-
tainer message, it expects a list of (contained_message, contained_data) tuples where contained_message
is either an integer with the header ID, the name or the message object of the contained message. Similarly,
the contained_data can either be specified as raw binary data (bytes) or as a key-to-value dictionary of every
signal needed to encode the featured message.
If scaling is False no scaling of signals is performed.
If padding is True unused bits are encoded as 1.
If strict is True the specified signals must exactly be the ones expected, and their values must be within
their allowed ranges, or an EncodeError exception is raised.

>>> foo = db.get_message_by_name('Foo')

>>> [Link]({'Bar': 1, 'Fum': 5.0})
b'\x01\x45\x23\x00\x11'

unpack_container(data, allow_truncated=False)
Unwrap the contents of a container message.
This returns a list of (contained_message, contained_data) tuples, i.e., the data for the contained
message are bytes objects, not decoded signal dictionaries. This is required for verifying the correctness
of the end-to-end protection or the authenticity of a contained message.
Note that contained_message is the header ID integer value if a contained message is unknown. Further,
if something goes seriously wrong, a DecodeError is raised.
decode(data, decode_choices=True, scaling=True, decode_containers=False, allow_truncated=False,
allow_excess=True)
Decode given data as a message of this type.
If decode_choices is False scaled values are not converted to choice strings (if available).
If scaling is False no scaling of signals is performed.

>>> foo = db.get_message_by_name('Foo')

>>> [Link](b'\x01\x45\x23\x00\x11')
{'Bar': 1, 'Fum': 5.0}

If decode_containers is True, the inner messages are decoded if the current message is a container frame.
The reason why this needs to be explicitly enabled is that the result of decode() for container frames is a list
of (header_id, signals_dict) tuples which might cause code that does not expect this to misbehave.
Trying to decode a container message with decode_containers set to False will raise a DecodeError.
If allow_truncated is True, incomplete messages (i.e., ones where the received data is shorter than speci-
fied) will be partially decoded, i.e., all signals which are fully present in the received data will be decoded,
and the remaining ones will be omitted. If ‘allow_truncated` is set to False, DecodeError will be raised
when trying to decode incomplete messages.

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If allow_excess is True, data that is are longer than the expected message length is decoded, else a Val-
ueError is raised if such data is encountered.
decode_simple(data, decode_choices=True, scaling=True, allow_truncated=False, allow_excess=True)
Decode given data as a container message.
This method is identical to decode() except that the message must not be a container. If the message is a
container, an exception is raised.
decode_container(data, decode_choices=True, scaling=True, allow_truncated=False, allow_excess=True)
Decode given data as a container message.
This method is identical to decode() except that the message must be a container. If the message is not a
container, an exception is raised.
is_multiplexed()
Returns True if the message is multiplexed, otherwise False.

>>> foo = db.get_message_by_name('Foo')

>>> foo.is_multiplexed()
False
>>> bar = db.get_message_by_name('Bar')
>>> bar.is_multiplexed()
True

refresh(strict=None)
Refresh the internal message state.
If strict is True an exception is raised if any signals are overlapping or if they don’t fit in the message. This
argument overrides the value of the same argument passed to the constructor.
class [Link](name, start, length, byte_order='little_endian', is_signed=False,
raw_initial=None, raw_invalid=None, conversion=None,
minimum=None, maximum=None, unit=None, dbc_specifics=None,
comment=None, receivers=None, is_multiplexer=False,
multiplexer_ids=None, multiplexer_signal=None, spn=None)
A CAN signal with position, size, unit and other information. A signal is part of a message.
Signal bit numbering in a message:

Byte: 0 1 2 3 4 5 6 7
+--------+--------+--------+--------+--------+--------+--------+--------+---␣
- -
˓→

| | | | | | | | |
+--------+--------+--------+--------+--------+--------+--------+--------+---␣
˓→- -

Bit: 7 0 15 8 23 16 31 24 39 32 47 40 55 48 63 56

Big endian signal with start bit 2 and length 5 (0=LSB, 4=MSB):

Byte: 0 1 2 3
+--------+--------+--------+--- - -
| |432|10| | |
+--------+--------+--------+--- - -
Bit: 7 0 15 8 23 16 31

Little endian signal with start bit 2 and length 9 (0=LSB, 8=MSB):

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Byte: 0 1 2 3
+--------+--------+--------+--- - -
|543210| | |876| |
+--------+--------+--------+--- - -
Bit: 7 0 15 8 23 16 31

name
The signal name as a string.
conversion
The conversion instance, which is used to convert between raw and scaled/physical values.
minimum
The scaled minimum value of the signal, or None if unavailable.
maximum
The scaled maximum value of the signal, or None if unavailable.
start
The start bit position of the signal within its message.
length
The length of the signal in bits.
byte_order
Signal byte order as 'little_endian' or 'big_endian'.
is_signed
True if the signal is signed, False otherwise. Ignore this attribute if is_float is True.
raw_initial
The internal representation of the initial value of the signal, or None if unavailable.
initial
The initial value of the signal in units of the physical world, or None if unavailable.
raw_invalid
The raw value representing that the signal is invalid, or None if unavailable.
invalid
The scaled value representing that the signal is invalid, or None if unavailable.
unit
The unit of the signal as a string, or None if unavailable.
dbc
An object containing dbc specific properties like e.g. attributes.
receivers
A list of all receiver nodes of this signal.
is_multiplexer
True if this is the multiplexer signal in a message, False otherwise.
multiplexer_ids
The multiplexer ids list if the signal is part of a multiplexed message, None otherwise.

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multiplexer_signal
The multiplexer signal if the signal is part of a multiplexed message, None otherwise.
spn
The J1939 Suspect Parameter Number (SPN) value if the signal has this attribute, None otherwise.
comments
The dictionary with the descriptions of the signal in multiple languages. None if unavailable.
raw_to_scaled(raw_value, decode_choices=True)
Convert an internal raw value according to the defined scaling or value table.
Parameters
• raw_value – The raw value
• decode_choices – If decode_choices is False scaled values are not converted to choice
strings (if available).
Returns
The calculated scaled value
scaled_to_raw(scaled_value)
Convert a scaled value to the internal raw value.
Parameters
scaled_value – The scaled value.
Returns
The internal raw value.
property scale
The scale factor of the signal value.
property offset
The offset of the signal value.
property choices
A dictionary mapping signal values to enumerated choices, or None if unavailable.
property is_float
True if the raw signal value is a float, False otherwise.
property comment
The signal comment, or None if unavailable.
Note that we implicitly try to return the English comment if multiple languages were specified.
class [Link](value, name, comments=None)
Represents a named value of a signal.
Named values map an integer number to a human-readable string. Some file formats like ARXML support
specifying descriptions for the named value.
name
The text intended for human consumption which the specified integer is mapped to.
value
The integer value that gets mapped.

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property comments
The descriptions of the named value
This is a dictionary containing the descriptions in multiple languages. The dictionary is indexed by the
language.
Example:

# retrieve the English comment of the named value or an empty

# string if none was specified.
named_value.[Link]("EN", "")

class [Link]
The BaseConversion class defines the interface for all signal conversion classes.
scale
the scaling factor of the conversion
offset
the offset value of the conversion
is_float
True if the raw/internal value is a floating datatype False if it is an integer datatype
choices
an optional mapping of raw values to their corresponding text value
static factory(scale=1, offset=0, choices=None, is_float=False)
Factory method that returns an instance of a conversion subclass based on the given parameters.
Parameters
• scale – The scale factor to use for the conversion.
• offset – The offset to use for the conversion.
• choices – A dictionary of named signal choices, mapping raw values to string labels.
• is_float – A boolean flag indicating whether the raw value is a float or an integer.
Returns
An instance of a conversion subclass, either an IdentityConversion, a LinearIntegerConver-
sion, a LinearConversion`or a `NamedSignalConversion.
Raises
TypeError – If the given parameters are of the wrong type.
abstract raw_to_scaled(raw_value, decode_choices=True)
Convert an internal raw value according to the defined scaling or value table.
Parameters
• raw_value – The raw value
• decode_choices – If decode_choices is False scaled values are not converted to choice
strings (if available).
Returns
The calculated scaled value

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abstract scaled_to_raw(scaled_value)
Convert a scaled value to the internal raw value.
Parameters
scaled_value – The scaled value.
Returns
The internal raw value.
abstract numeric_scaled_to_raw(scaled_value)
Convert a numeric scaled value to the internal raw value.
Parameters
scaled_value – The numeric scaled value.
Returns
The internal raw value.
class [Link](dids=None)
This class contains all DIDs.
The factory functions load(), load_file() and load_string() returns instances of this class.
property dids
A list of DIDs in the database.
add_cdd(fp)
Read and parse CDD data from given file-like object and add the parsed data to the database.
add_cdd_file(filename, encoding='utf-8')
Open, read and parse CDD data from given file and add the parsed data to the database.
encoding specifies the file encoding.
add_cdd_string(string)
Parse given CDD data string and add the parsed data to the database.
get_did_by_name(name)
Find the DID object for given name name.
get_did_by_identifier(identifier)
Find the DID object for given identifier identifier.
refresh()
Refresh the internal database state.
This method must be called after modifying any DIDs in the database to refresh the internal lookup tables
used when encoding and decoding DIDs.
class [Link](identifier, name, length, datas)
A DID with identifier and other information.
property identifier
The did identifier as an integer.
property name
The did name as a string.
property length
The did name as a string.

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property datas
The did datas as a string.
encode(data, scaling=True)
Encode given data as a DID of this type.
If scaling is False no scaling of datas is performed.

>>> foo = db.get_did_by_name('Foo')

>>> [Link]({'Bar': 1, 'Fum': 5.0})
b'\x01\x45\x23\x00\x11'

decode(data, decode_choices=True, scaling=True, allow_truncated=False, allow_excess=True)

Decode given data as a DID of this type.
If decode_choices is False scaled values are not converted to choice strings (if available).
If scaling is False no scaling of datas is performed.

>>> foo = db.get_did_by_name('Foo')

>>> [Link](b'\x01\x45\x23\x00\x11')
{'Bar': 1, 'Fum': 5.0}

refresh()
Refresh the internal DID state.
class [Link](name, start, length, byte_order='little_endian',
conversion=None, minimum=None, maximum=None,
unit=None)
A data data with position, size, unit and other information. A data is part of a DID.
name
The data name as a string.
conversion
The conversion instance, which is used to convert between raw and scaled/physical values.
start
The start bit position of the data within its DID.
length
The length of the data in bits.
byte_order
Data byte order as 'little_endian' or 'big_endian'.
minimum
The minimum value of the data, or None if unavailable.
maximum
The maximum value of the data, or None if unavailable.
unit
The unit of the data as a string, or None if unavailable.
raw_to_scaled(raw_value, decode_choices=True)
Convert an internal raw value according to the defined scaling or value table.
Parameters

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• raw_value – The raw value

• decode_choices – If decode_choices is False scaled values are not converted to choice
strings (if available).
Returns
The calculated scaled value
scaled_to_raw(scaled_value)
Convert a scaled value to the internal raw value.
Parameters
scaled_value – The scaled value.
Returns
The internal raw value.
property scale
The scale factor of the signal value.
property offset
The offset of the signal value.
property choices
A dictionary mapping signal values to enumerated choices, or None if unavailable.
property is_float
True if the raw signal value is a float, False otherwise.
class [Link](e_arxml, e_dbc, e_kcd, e_sym, e_cdd)
This exception is raised when load_file(), load() and load_string() are unable to parse given database
file or string.
class [Link](dut_name, database, can_bus, bus_name=None, on_message=None,
decode_choices=True, scaling=True, padding=False)
Test given node dut_name on given CAN bus bus_name.
database is a Database instance.
can_bus a CAN bus object, normally created using the python-can package.
The on_message callback is called for every successfully decoded received message. It is called with one argu-
ment, an DecodedMessage instance.
Here is an example of how to create a tester:

>>> import can

>>> import cantools
>>> [Link]['interface'] = 'socketcan'
>>> [Link]['channel'] = 'vcan0'
>>> can_bus = [Link]()
>>> database = [Link].load_file('tests/files/[Link]')
>>> tester = [Link]('PeriodicConsumer', database, can_bus,
˓→'PeriodicBus')

start()
Start the tester. Starts sending enabled periodic messages.

>>> [Link]()

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stop()
Stop the tester. Periodic messages will not be sent after this call. Call start() to resume a stopped tester.

>>> [Link]()

property messages
Set and get signals in messages. Set signals takes effect immediately for started enabled periodic messages.
Call send() for other messages.

>>> periodic_message = [Link]['PeriodicMessage1']

>>> periodic_message
{'Signal1': 0, 'Signal2': 0}
>>> periodic_message['Signal1'] = 1
>>> periodic_message.update({'Signal1': 2, 'Signal2': 5})
>>> periodic_message
{'Signal1': 2, 'Signal2': 5}

enable(message_name)
Enable given message message_name and start sending it if its periodic and the tester is running.

>>> [Link]('PeriodicMessage1')

disable(message_name)
Disable given message message_name and stop sending it if its periodic, enabled and the tester is running.

>>> [Link]('PeriodicMessage1')

send(message_name, signals=None)
Send given message message_name and optional signals signals.

>>> [Link]('Message1', {'Signal2': 10})

>>> [Link]('Message1')

expect(message_name, signals=None, timeout=None, discard_other_messages=True)

Expect given message message_name and signal values signals within timeout seconds.
Give signals as None to expect any signal values.
Give timeout as None to wait forever.
Messages are read from the input queue, and those not matching given message_name and signals are
discarded if discard_other_messages is True. flush_input() may be called to discard all old messages
in the input queue before calling the expect function.
Returns the expected message, or None on timeout.

>>> [Link]('Message2', {'Signal1': 13})

{'Signal1': 13, 'Signal2': 9}

flush_input()
Flush, or discard, all messages in the input queue.
class [Link](name, signals)
A decoded message.

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name
Message name.
signals
Message signals.

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34 Chapter 5. Functions and classes

 CHAPTER

SIX

CODING STYLE

The coding style for this package is defined as below. The rules are based on my personal preference.
• Blank lines before and after statements (if, while, return, . . . ) (1), unless at beginning or end of another statement
or file (8).
• Two blank lines between file level definitions (2).
• Space before and after operators (3), except for keyword arguments where no space is allowed (4).
• One import per line (5).
• Comments and doc strings starts with capital letter and ends with a period, that is, just as sentences (6).
• Blank line after doc strings (7).
• Maximum line length of 90 characters, but aim for less than 80.
• All function arguments on one line, or one per line.
• Class names are CamelCase. Underscore is not allowed.
• Function and variable names are lower case with underscore separating words.

import sys
from os import path # (5)
from os import getcwd # (5)
# (2)
# (2)
def foo(bars, fum=None): # (4)
"""This is a doc string. # (6)

"""
# (7)
fies = [] # (3)
kam = [Link](getcwd(), '..')
# (1)
for bar in bars:
if len(bar) == 1): # (8)
[Link](ham + 2 * bar) # (3)
# (1)
# This is a comment. # (6)
if fum in None:
fum = 5 # (3)
else:
fum += 1 # (3)
(continues on next page)

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(continued from previous page)

# (1)
fies *= fum # (3)
# (1)
return fies
# (2)
# (2)
def goo():
return True

36 Chapter 6. Coding style

 CHAPTER

SEVEN

TIPS AND TRICKS

Virtual CAN interface setup in Ubuntu:

sudo modprobe vcan

sudo ip link add dev vcan0 type vcan
sudo ip link set vcan0 mtu 72 # For CAN-FD
sudo ip link set up vcan0

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38 Chapter 7. Tips and tricks

 INDEX

A [Link] method), 23
add_arxml() ([Link] autosar ([Link] property), 19
method), 19 autosar ([Link] property), 23
add_arxml_file() ([Link]
method), 19 B
add_arxml_string() ([Link] BaseConversion (class in can-
method), 19 [Link]), 28
add_cdd() ([Link] bus_name ([Link] property), 23
method), 29 buses ([Link] property), 19
add_cdd_file() (can- byte_order ([Link] attribute), 26
[Link] method), byte_order ([Link]
29 attribute), 30
add_cdd_string() (can-
[Link] method), C
29 choices ([Link] property), 27
add_dbc() ([Link] method), choices ([Link]
19 attribute), 28
add_dbc_file() ([Link] choices ([Link] property),
method), 20 31
add_dbc_string() ([Link] comment ([Link] property), 22
method), 20 comment ([Link] property), 27
add_kcd() ([Link] method), comments ([Link] property), 22
20 comments ([Link] attribute), 27
add_kcd_file() ([Link] comments ([Link]
method), 20 property), 27
add_kcd_string() ([Link] contained_messages ([Link]
method), 20 property), 22
add_sym() ([Link] method), conversion ([Link] attribute), 26
20 conversion ([Link]
add_sym_file() ([Link] attribute), 30
method), 20 cycle_time ([Link] property),
add_sym_string() ([Link] 23
method), 20
as_dbc_string() ([Link] D
method), 20 Data (class in [Link]), 30
as_kcd_string() ([Link] Database (class in [Link]), 19
method), 20 Database (class in [Link]), 29
as_sym_string() ([Link] datas ([Link] property), 29
method), 20 dbc ([Link] property), 19
assert_container_encodable() (can- dbc ([Link] property), 23
[Link] method), 24 dbc ([Link] attribute), 26
assert_signals_encodable() (can- decode() ([Link] method), 24

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decode() ([Link] method), H

30 header_byte_order ([Link]
decode_container() ([Link] property), 22
method), 25 header_id ([Link] property),
decode_message() ([Link] 22
method), 21
decode_simple() ([Link] I
method), 25 identifier ([Link] prop-
DecodedMessage (class in [Link]), 32 erty), 29
[Link] (in module [Link]), 32 initial ([Link] attribute), 26
[Link] (in module [Link]), invalid ([Link] attribute), 26
33 is_container ([Link] prop-
Did (class in [Link]), 29 erty), 22
dids ([Link] property), is_extended_frame ([Link]
29 property), 22
disable() ([Link] method), 32 is_fd ([Link] property), 22
dump_file() (in module [Link]), 18 is_float ([Link] property), 27
is_float ([Link]
E attribute), 28
enable() ([Link] method), 32 is_float ([Link] prop-
encode() ([Link] method), 24 erty), 31
encode() ([Link] method), is_multiplexed() ([Link]
30 method), 25
encode_message() ([Link] is_multiplexer ([Link] at-
method), 21 tribute), 26
expect() ([Link] method), 32 is_signed ([Link] attribute), 26
is_similar() ([Link]
F method), 19
factory() ([Link]
static method), 28 L
flush_input() ([Link] method), 32 length ([Link] property), 22
frame_id ([Link] property), 22 length ([Link] attribute), 26
length ([Link] attribute),
G 30
gather_container() ([Link] length ([Link] property), 29
method), 23 load() (in module [Link]), 18
gather_signals() ([Link] load_file() (in module [Link]), 17
method), 23 load_string() (in module [Link]), 18
get_bus_by_name() ([Link]
method), 21
M
get_did_by_identifier() (can- maximum ([Link] attribute), 26
[Link] method), maximum ([Link] attribute),
29 30
get_did_by_name() (can- Message (class in [Link]), 21
[Link] method), messages ([Link] property),
29 19
get_message_by_frame_id() (can- messages ([Link] property), 32
[Link] method), 20 minimum ([Link] attribute), 26
get_message_by_name() (can- minimum ([Link] attribute),
[Link] method), 20 30
get_node_by_name() ([Link] multiplexer_ids ([Link]
method), 21 attribute), 26
multiplexer_signal ([Link] at-
tribute), 26

40 Index
 cantools Documentation, Release 39.4.3.dev10+gcc02988

N scaled_to_raw() (can-
name ([Link] property), 22 [Link]
name ([Link] attribute), 26 method), 28
name ([Link] attribute), 30 scaled_to_raw() ([Link]
name ([Link] property), 29 method), 31
name ([Link]() ([Link] method), 32
attribute), 27 send_type ([Link] property),
NamedSignalValue (class in can- 22
[Link]), 27 senders ([Link] property), 22
nodes ([Link] property), 19 Signal (class in [Link]), 25
numeric_scaled_to_raw() (can- signal_groups ([Link] prop-
[Link] erty), 22
method), 29 signal_tree ([Link] prop-
erty), 23
O signals ([Link] property), 22
offset ([Link] property), 27 spn ([Link] attribute), 27
offset ([Link] start ([Link] attribute), 26
attribute), 28 start ([Link] attribute), 30
offset ([Link] property), start() ([Link] method), 31
31 stop() ([Link] method), 31

P T
protocol ([Link] property), 23 Tester (class in [Link]), 31

R U
raw_initial ([Link] attribute), unit ([Link] attribute), 26
26 unit ([Link] attribute), 30
raw_invalid ([Link] attribute), unpack_container() ([Link]
26 method), 24
raw_to_scaled() ([Link] UnsupportedDatabaseFormatError (class in can-
method), 27 [Link]), 31
raw_to_scaled() (can- unused_bit_pattern ([Link]
[Link] property), 22
method), 28
raw_to_scaled() ([Link] V
method), 30 value ([Link]
receivers ([Link] property), attribute), 27
22 version ([Link] property), 19
receivers ([Link] attribute), 26
refresh() ([Link] method),
21
refresh() ([Link] method), 25
refresh() ([Link]
method), 29
refresh() ([Link] method),
30

S
scale ([Link] property), 27
scale ([Link]
attribute), 28
scale ([Link] property), 31
scaled_to_raw() ([Link]
method), 27

Index 41