hardbyte · hardbyte · Feb 23, 2019 · Sep 28, 2018 · Sep 30, 2018 · Oct 2, 2018
diff --git a/README.rst b/README.rst
@@ -67,7 +67,7 @@ Example usage
                   receive_own_messages=True)
 
     # send a message
-    message = can.Message(arbitration_id=123, extended_id=True,
+    message = can.Message(arbitration_id=123, is_extended_id=True,
                           data=[0x11, 0x22, 0x33])
     bus.send(message, timeout=0.2)
 

diff --git a/can/interfaces/ics_neovi/neovi_bus.py b/can/interfaces/ics_neovi/neovi_bus.py
@@ -75,6 +75,8 @@ def __init__(self, channel, can_filters=None, **config):
         :type channel: int or str or list(int) or list(str)
         :param list can_filters:
             See :meth:`can.BusABC.set_filters` for details.
+        :param bool receive_own_messages:
+            If transmitted messages should also be received by this bus.
         :param bool use_system_timestamp:
             Use system timestamp for can messages instead of the hardware time
             stamp
@@ -127,6 +129,7 @@ def __init__(self, channel, can_filters=None, **config):
         self._use_system_timestamp = bool(
             config.get('use_system_timestamp', False)
         )
+        self._receive_own_messages = config.get('receive_own_messages', True)
 
         self.channel_info = '%s %s CH:%s' % (
             self.dev.Name,
@@ -222,6 +225,9 @@ def _process_msg_queue(self, timeout=0.1):
         for ics_msg in messages:
             if ics_msg.NetworkID not in self.channels:
                 continue
+            is_tx = bool(ics_msg.StatusBitField & ics.SPY_STATUS_TX_MSG)
+            if not self._receive_own_messages and is_tx:
+                continue
             self.rx_buffer.append(ics_msg)
         if errors:
             logger.warning("%d error(s) found" % errors)
@@ -262,7 +268,7 @@ def _ics_msg_to_message(self, ics_msg):
                 arbitration_id=ics_msg.ArbIDOrHeader,
                 data=data,
                 dlc=ics_msg.NumberBytesData,
-                extended_id=bool(
+                is_extended_id=bool(
                     ics_msg.StatusBitField & ics.SPY_STATUS_XTD_FRAME
                 ),
                 is_fd=is_fd,
@@ -283,7 +289,7 @@ def _ics_msg_to_message(self, ics_msg):
                 arbitration_id=ics_msg.ArbIDOrHeader,
                 data=ics_msg.Data[:ics_msg.NumberBytesData],
                 dlc=ics_msg.NumberBytesData,
-                extended_id=bool(
+                is_extended_id=bool(
                     ics_msg.StatusBitField & ics.SPY_STATUS_XTD_FRAME
                 ),
                 is_fd=is_fd,

diff --git a/can/interfaces/iscan.py b/can/interfaces/iscan.py
@@ -111,7 +111,7 @@ def _recv_internal(self, timeout):
                 break
 
         msg = Message(arbitration_id=raw_msg.message_id,
-                      extended_id=bool(raw_msg.is_extended),
+                      is_extended_id=bool(raw_msg.is_extended),
                       timestamp=time.time(),                    # Better than nothing...
                       is_remote_frame=bool(raw_msg.remote_req),
                       dlc=raw_msg.data_len,

diff --git a/can/interfaces/ixxat/canlib.py b/can/interfaces/ixxat/canlib.py
@@ -470,7 +470,7 @@ def _recv_internal(self, timeout):
         rx_msg = Message(
             timestamp=self._message.dwTime / self._tick_resolution,  # Relative time in s
             is_remote_frame=True if self._message.uMsgInfo.Bits.rtr else False,
-            extended_id=True if self._message.uMsgInfo.Bits.ext else False,
+            is_extended_id=True if self._message.uMsgInfo.Bits.ext else False,
             arbitration_id=self._message.dwMsgId,
             dlc=self._message.uMsgInfo.Bits.dlc,
             data=self._message.abData[:self._message.uMsgInfo.Bits.dlc],

diff --git a/can/interfaces/kvaser/canlib.py b/can/interfaces/kvaser/canlib.py
@@ -508,7 +508,7 @@ def _recv_internal(self, timeout=None):
             rx_msg = Message(arbitration_id=arb_id.value,
                              data=data_array[:dlc.value],
                              dlc=dlc.value,
-                             extended_id=is_extended,
+                             is_extended_id=is_extended,
                              is_error_frame=is_error_frame,
                              is_remote_frame=is_remote_frame,
                              is_fd=is_fd,

diff --git a/can/interfaces/nican.py b/can/interfaces/nican.py
@@ -245,7 +245,7 @@ def _recv_internal(self, timeout):
                       channel=self.channel,
                       is_remote_frame=is_remote_frame,
                       is_error_frame=is_error_frame,
-                      extended_id=is_extended,
+                      is_extended_id=is_extended,
                       arbitration_id=arb_id,
                       dlc=dlc,
                       data=raw_msg.data[:dlc])

diff --git a/can/interfaces/pcan/pcan.py b/can/interfaces/pcan/pcan.py
@@ -218,7 +218,7 @@ def _recv_internal(self, timeout):
 
         rx_msg = Message(timestamp=timestamp,
                          arbitration_id=theMsg.ID,
-                         extended_id=bIsExt,
+                         is_extended_id=bIsExt,
                          is_remote_frame=bIsRTR,
                          dlc=dlc,
                          data=theMsg.DATA[:dlc])

diff --git a/can/interfaces/serial/serial_can.py b/can/interfaces/serial/serial_can.py
@@ -119,7 +119,7 @@ def _recv_internal(self, timeout):
             Received message and False (because not filtering as taken place).
 
             .. warning::
-                Flags like extended_id, is_remote_frame and is_error_frame
+                Flags like is_extended_id, is_remote_frame and is_error_frame
                 will not be set over this function, the flags in the return
                 message are the default values.
 

diff --git a/can/interfaces/slcan.py b/can/interfaces/slcan.py
@@ -47,7 +47,10 @@ class slcanBus(BusABC):
 
     _SLEEP_AFTER_SERIAL_OPEN = 2  # in seconds
 
+    LINE_TERMINATOR = b'\r'
+
     def __init__(self, channel, ttyBaudrate=115200, bitrate=None,
+                 sleep_after_open=_SLEEP_AFTER_SERIAL_OPEN,
                  rtscts=False, **kwargs):
         """
         :param str channel:
@@ -59,6 +62,8 @@ def __init__(self, channel, ttyBaudrate=115200, bitrate=None,
             Bitrate in bit/s
         :param float poll_interval:
             Poll interval in seconds when reading messages
+        :param float sleep_after_open:
+            Time to wait in seconds after opening serial connection
         :param bool rtscts:
             turn hardware handshake (RTS/CTS) on and off
         """
@@ -72,7 +77,9 @@ def __init__(self, channel, ttyBaudrate=115200, bitrate=None,
         self.serialPortOrig = serial.serial_for_url(
             channel, baudrate=ttyBaudrate, rtscts=rtscts)
 
-        time.sleep(self._SLEEP_AFTER_SERIAL_OPEN)
+        self._buffer = bytearray()
+
+        time.sleep(sleep_after_open)
 
         if bitrate is not None:
             self.close()
@@ -87,9 +94,7 @@ def __init__(self, channel, ttyBaudrate=115200, bitrate=None,
                                        bitrate=None, rtscts=False, **kwargs)
 
     def write(self, string):
-        if not string.endswith('\r'):
-            string += '\r'
-        self.serialPortOrig.write(string.encode())
+        self.serialPortOrig.write(string.encode() + self.LINE_TERMINATOR)
         self.serialPortOrig.flush()
 
     def open(self):
@@ -107,12 +112,20 @@ def _recv_internal(self, timeout):
         extended = False
         frame = []
 
-        readStr = self.serialPortOrig.read_until(b'\r')
+        # Read everything that is already available
+        waiting = self.serialPortOrig.read(self.serialPortOrig.in_waiting)
+        self._buffer += waiting
 
-        if not readStr:
-            return None, False
-        else:
-            readStr = readStr.decode()
+        # Check if a complete message has been received
+        pos = self._buffer.find(self.LINE_TERMINATOR)
+        if pos == -1:
+            # Keep reading...
+            self._buffer += self.serialPortOrig.read_until(self.LINE_TERMINATOR)
+            pos = self._buffer.find(self.LINE_TERMINATOR)
+
+        if pos != -1:
+            readStr = self._buffer[0:pos].decode()
+            del self._buffer[0:pos+1]
             if readStr[0] == 'T':
                 # extended frame
                 canId = int(readStr[1:9], 16)
@@ -129,45 +142,46 @@ def _recv_internal(self, timeout):
             elif readStr[0] == 'r':
                 # remote frame
                 canId = int(readStr[1:4], 16)
+                dlc = int(readStr[4])
                 remote = True
             elif readStr[0] == 'R':
                 # remote extended frame
                 canId = int(readStr[1:9], 16)
+                dlc = int(readStr[9])
                 extended = True
                 remote = True
 
             if canId is not None:
                 msg = Message(arbitration_id=canId,
-                              extended_id=extended,
+                              is_extended_id=extended,
                               timestamp=time.time(),   # Better than nothing...
                               is_remote_frame=remote,
                               dlc=dlc,
                               data=frame)
                 return msg, False
-            else:
-                return None, False
+        return None, False
 
-    def send(self, msg, timeout=0):
+    def send(self, msg, timeout=None):
         if timeout != self.serialPortOrig.write_timeout:
             self.serialPortOrig.write_timeout = timeout
 
         if msg.is_remote_frame:
             if msg.is_extended_id:
-                sendStr = "R%08X0" % (msg.arbitration_id)
+                sendStr = "R%08X%d" % (msg.arbitration_id, msg.dlc)
             else:
-                sendStr = "r%03X0" % (msg.arbitration_id)
+                sendStr = "r%03X%d" % (msg.arbitration_id, msg.dlc)
         else:
             if msg.is_extended_id:
                 sendStr = "T%08X%d" % (msg.arbitration_id, msg.dlc)
             else:
                 sendStr = "t%03X%d" % (msg.arbitration_id, msg.dlc)
 
-            for i in range(0, msg.dlc):
-                sendStr += "%02X" % msg.data[i]
+            sendStr += "".join(["%02X" % b for b in msg.data])
         self.write(sendStr)
 
     def shutdown(self):
         self.close()
+        self.serialPortOrig.close()
 
     def fileno(self):
         if hasattr(self.serialPortOrig, 'fileno'):

diff --git a/can/interfaces/socketcan/socketcan.py b/can/interfaces/socketcan/socketcan.py
@@ -422,7 +422,7 @@ def capture_message(sock, get_channel=False):
     msg = Message(timestamp=timestamp,
                   channel=channel,
                   arbitration_id=arbitration_id,
-                  extended_id=is_extended_frame_format,
+                  is_extended_id=is_extended_frame_format,
                   is_remote_frame=is_remote_transmission_request,
                   is_error_frame=is_error_frame,
                   is_fd=is_fd,

diff --git a/can/interfaces/usb2can/usb2canInterface.py b/can/interfaces/usb2can/usb2canInterface.py
@@ -65,7 +65,7 @@ def message_convert_rx(messagerx):
 
     msgrx = Message(timestamp=messagerx.timestamp,
                     is_remote_frame=REMOTE_FRAME,
-                    extended_id=ID_TYPE,
+                    is_extended_id=ID_TYPE,
                     is_error_frame=ERROR_FRAME,
                     arbitration_id=messagerx.id,
                     dlc=messagerx.sizeData,

diff --git a/can/interfaces/vector/canlib.py b/can/interfaces/vector/canlib.py
@@ -265,7 +265,7 @@ def _recv_internal(self, timeout):
                         msg = Message(
                             timestamp=timestamp + self._time_offset,
                             arbitration_id=msg_id & 0x1FFFFFFF,
-                            extended_id=bool(msg_id & vxlapi.XL_CAN_EXT_MSG_ID),
+                            is_extended_id=bool(msg_id & vxlapi.XL_CAN_EXT_MSG_ID),
                             is_remote_frame=bool(flags & vxlapi.XL_CAN_RXMSG_FLAG_RTR),
                             is_error_frame=bool(flags & vxlapi.XL_CAN_RXMSG_FLAG_EF),
                             is_fd=bool(flags & vxlapi.XL_CAN_RXMSG_FLAG_EDL),
@@ -292,7 +292,7 @@ def _recv_internal(self, timeout):
                         msg = Message(
                             timestamp=timestamp + self._time_offset,
                             arbitration_id=msg_id & 0x1FFFFFFF,
-                            extended_id=bool(msg_id & vxlapi.XL_CAN_EXT_MSG_ID),
+                            is_extended_id=bool(msg_id & vxlapi.XL_CAN_EXT_MSG_ID),
                             is_remote_frame=bool(flags & vxlapi.XL_CAN_MSG_FLAG_REMOTE_FRAME),
                             is_error_frame=bool(flags & vxlapi.XL_CAN_MSG_FLAG_ERROR_FRAME),
                             is_fd=False,

diff --git a/can/io/asc.py b/can/io/asc.py
@@ -85,7 +85,7 @@ def __iter__(self):
                 can_id_num, is_extended_id = self._extract_can_id(can_id_str)
                 msg = Message(timestamp=timestamp,
                               arbitration_id=can_id_num & CAN_ID_MASK,
-                              extended_id=is_extended_id,
+                              is_extended_id=is_extended_id,
                               is_remote_frame=True,
                               channel=channel)
                 yield msg
@@ -111,7 +111,7 @@ def __iter__(self):
                 yield Message(
                     timestamp=timestamp,
                     arbitration_id=can_id_num & CAN_ID_MASK,
-                    extended_id=is_extended_id,
+                    is_extended_id=is_extended_id,
                     is_remote_frame=False,
                     dlc=dlc,
                     data=frame,

diff --git a/can/io/blf.py b/can/io/blf.py
@@ -215,7 +215,7 @@ def __iter__(self):
                          can_data) = CAN_MSG_STRUCT.unpack_from(data, pos)
                         msg = Message(timestamp=timestamp,
                                       arbitration_id=can_id & 0x1FFFFFFF,
-                                      extended_id=bool(can_id & CAN_MSG_EXT),
+                                      is_extended_id=bool(can_id & CAN_MSG_EXT),
                                       is_remote_frame=bool(flags & REMOTE_FLAG),
                                       dlc=dlc,
                                       data=can_data[:dlc],
@@ -227,7 +227,7 @@ def __iter__(self):
                         length = dlc2len(dlc)
                         msg = Message(timestamp=timestamp,
                                       arbitration_id=can_id & 0x1FFFFFFF,
-                                      extended_id=bool(can_id & CAN_MSG_EXT),
+                                      is_extended_id=bool(can_id & CAN_MSG_EXT),
                                       is_remote_frame=bool(flags & REMOTE_FLAG),
                                       is_fd=bool(fd_flags & EDL),
                                       bitrate_switch=bool(fd_flags & BRS),
@@ -241,7 +241,7 @@ def __iter__(self):
                          can_data) = CAN_ERROR_EXT_STRUCT.unpack_from(data, pos)
                         msg = Message(timestamp=timestamp,
                                       is_error_frame=True,
-                                      extended_id=bool(can_id & CAN_MSG_EXT),
+                                      is_extended_id=bool(can_id & CAN_MSG_EXT),
                                       arbitration_id=can_id & 0x1FFFFFFF,
                                       dlc=dlc,
                                       data=can_data[:dlc],

diff --git a/can/io/canutils.py b/can/io/canutils.py
@@ -81,7 +81,7 @@ def __iter__(self):
                 msg = Message(timestamp=timestamp, is_error_frame=True)
             else:
                 msg = Message(timestamp=timestamp, arbitration_id=canId & 0x1FFFFFFF,
-                              extended_id=isExtended, is_remote_frame=isRemoteFrame,
+                              is_extended_id=isExtended, is_remote_frame=isRemoteFrame,
                               dlc=dlc, data=dataBin, channel=channel)
             yield msg
 

diff --git a/can/io/csv.py b/can/io/csv.py
@@ -99,7 +99,7 @@ def __iter__(self):
             yield Message(
                 timestamp=float(timestamp),
                 is_remote_frame=(remote == '1'),
-                extended_id=(extended == '1'),
+                is_extended_id=(extended == '1'),
                 is_error_frame=(error == '1'),
                 arbitration_id=int(arbitration_id, base=16),
                 dlc=int(dlc),

diff --git a/can/io/sqlite.py b/can/io/sqlite.py
@@ -64,7 +64,7 @@ def _assemble_message(frame_data):
         return Message(
             timestamp=timestamp,
             is_remote_frame=bool(is_remote),
-            extended_id=bool(is_extended),
+            is_extended_id=bool(is_extended),
             is_error_frame=bool(is_error),
             arbitration_id=can_id,
             dlc=dlc,

diff --git a/can/message.py b/can/message.py
@@ -82,7 +82,7 @@ def __init__(self, timestamp=0.0, arbitration_id=0, is_extended_id=None,
                  is_remote_frame=False, is_error_frame=False, channel=None,
                  dlc=None, data=None,
                  is_fd=False, bitrate_switch=False, error_state_indicator=False,
-                 extended_id=True,
+                 extended_id=True, # deprecated in 3.x, removed in 4.x
                  check=False):
         """
         To create a message object, simply provide any of the below attributes
@@ -221,7 +221,7 @@ def __copy__(self):
         new = Message(
             timestamp=self.timestamp,
             arbitration_id=self.arbitration_id,
-            extended_id=self.is_extended_id,
+            is_extended_id=self.is_extended_id,
             is_remote_frame=self.is_remote_frame,
             is_error_frame=self.is_error_frame,
             channel=self.channel,
@@ -238,7 +238,7 @@ def __deepcopy__(self, memo):
         new = Message(
             timestamp=self.timestamp,
             arbitration_id=self.arbitration_id,
-            extended_id=self.is_extended_id,
+            is_extended_id=self.is_extended_id,
             is_remote_frame=self.is_remote_frame,
             is_error_frame=self.is_error_frame,
             channel=deepcopy(self.channel, memo),