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import os
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import datetime
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import can #需要安装python-can库 pip install python-can
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from can import bus
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speed=0
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def sped():
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global speed
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bus.set_filters=[{"can_id": 0x4f2, "can_mask": 0xFFFF, "extended": False}]
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#连接can1
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can1 = can.interface.Bus(channel = 'can0', bustype = 'socketcan',can_filters=bus.set_filters) #python-can 4.0需要用这个
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# can1 = can.interface.Bus(channel = 'can0', bustype = 'socketcan') #python-can 4.0需要用这个
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#一直循环接收数据
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a = 1
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while a == 1 :
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msg = can1.recv(3.0) #recv()中定义超时接收时间
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# print(msg)
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b = str(msg).replace(' ', '')
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c = b.find('ID')
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d = b.find('DL')
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e = b[c + 3:c + 7] # id
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# print(b, '\n')
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if e == '04f2':
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# print('成功接收到速度报文：04f2 接收时间为：',datetime.datetime.now())
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speed16 = b[d + 6:d + 10]
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# print('接收到的速度16进制为：', speed16) # 速度
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speed10 = int(speed16, 16)
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speed = speed10 * 0.01
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# print('接收到的速度10进制为：', speed10)
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# print('接收到的表显速度为：%skm/h' % speed, '\n')
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# file = open('speed.txt', 'a')
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# file.write(str(speed))
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# file.write('\n')
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else:
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print('未接收到速度报文')
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#关闭can
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# os.system('sudo ifconfig can1 down')
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