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Add TRCReader RTR frames support #1953

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Add TRCReader RTR frames support #1953

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c62b4ea
New trc test files with RTR frame
denis-jullien Jul 10, 2025
d0e0680
trc reader support for RTR frames parsing
denis-jullien Jul 10, 2025
3eb9971
black format
denis-jullien Jul 10, 2025
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20 changes: 15 additions & 5 deletions can/io/trc.py
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Original file line number Diff line number Diff line change
Expand Up @@ -153,7 +153,10 @@ def _parse_msg_v1_0(self, cols: tuple[str, ...]) -> Optional[Message]:
msg.is_extended_id = len(arbit_id) > 4
msg.channel = 1
msg.dlc = int(cols[3])
msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)])
if len(cols) > 4 and cols[4] == "RTR":
msg.is_remote_frame = True
else:
msg.data = bytearray([int(cols[i + 4], 16) for i in range(msg.dlc)])
return msg

def _parse_msg_v1_1(self, cols: tuple[str, ...]) -> Optional[Message]:
Expand All @@ -165,7 +168,10 @@ def _parse_msg_v1_1(self, cols: tuple[str, ...]) -> Optional[Message]:
msg.is_extended_id = len(arbit_id) > 4
msg.channel = 1
msg.dlc = int(cols[4])
msg.data = bytearray([int(cols[i + 5], 16) for i in range(msg.dlc)])
if len(cols) > 5 and cols[5] == "RTR":
msg.is_remote_frame = True
else:
msg.data = bytearray([int(cols[i + 5], 16) for i in range(msg.dlc)])
msg.is_rx = cols[2] == "Rx"
return msg

Expand All @@ -178,7 +184,10 @@ def _parse_msg_v1_3(self, cols: tuple[str, ...]) -> Optional[Message]:
msg.is_extended_id = len(arbit_id) > 4
msg.channel = int(cols[2])
msg.dlc = int(cols[6])
msg.data = bytearray([int(cols[i + 7], 16) for i in range(msg.dlc)])
if len(cols) > 7 and cols[7] == "RTR":
msg.is_remote_frame = True
else:
msg.data = bytearray([int(cols[i + 7], 16) for i in range(msg.dlc)])
msg.is_rx = cols[3] == "Rx"
return msg

Expand All @@ -200,7 +209,8 @@ def _parse_msg_v2_x(self, cols: tuple[str, ...]) -> Optional[Message]:
msg.is_extended_id = len(cols[self.columns["I"]]) > 4
msg.channel = int(cols[bus]) if bus is not None else 1
msg.dlc = dlc
if dlc:
msg.is_remote_frame = type_ in {"RR"}
if dlc and not msg.is_remote_frame:
msg.data = bytearray.fromhex(cols[self.columns["D"]])
msg.is_rx = cols[self.columns["d"]] == "Rx"
msg.is_fd = type_ in {"FD", "FB", "FE", "BI"}
Expand All @@ -227,7 +237,7 @@ def _parse_cols_v1_3(self, cols: tuple[str, ...]) -> Optional[Message]:

def _parse_cols_v2_x(self, cols: tuple[str, ...]) -> Optional[Message]:
dtype = cols[self.columns["T"]]
if dtype in {"DT", "FD", "FB", "FE", "BI"}:
if dtype in {"DT", "FD", "FB", "FE", "BI", "RR"}:
return self._parse_msg_v2_x(cols)
else:
logger.info("TRCReader: Unsupported type '%s'", dtype)
Expand Down
7 changes: 4 additions & 3 deletions test/data/test_CanMessage_V1_0_BUS1.trc
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Original file line number Diff line number Diff line change
@@ -1,10 +1,10 @@
;##########################################################################
; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_0_BUS1.trc
; C:\NewFileName_BUS1.trc
;
; CAN activities imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc
; CAN activities imported from C:\test_CanMessage_V1_1.trc
; Start time: 18.12.2021 14:28:07.062
; PCAN-Net: N/A
; Generated by PEAK-Converter Version 2.2.4.136
; Generated by PEAK-Converter Version 3.0.4.594
;
; Columns description:
; ~~~~~~~~~~~~~~~~~~~~~
Expand All @@ -26,3 +26,4 @@
9) 20798 00000100 8 00 00 00 00 00 00 00 00
10) 20956 00000100 8 00 00 00 00 00 00 00 00
11) 21097 00000100 8 00 00 00 00 00 00 00 00
12) 48937 0704 1 RTR
3 changes: 2 additions & 1 deletion test/data/test_CanMessage_V1_1.trc
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Original file line number Diff line number Diff line change
Expand Up @@ -22,4 +22,5 @@
8) 20592.7 Tx 00000100 8 00 00 00 00 00 00 00 00
9) 20798.6 Tx 00000100 8 00 00 00 00 00 00 00 00
10) 20956.0 Tx 00000100 8 00 00 00 00 00 00 00 00
11) 21097.1 Tx 00000100 8 00 00 00 00 00 00 00 00
11) 21097.1 Tx 00000100 8 00 00 00 00 00 00 00 00
12) 48937.6 Rx 0704 1 RTR
35 changes: 19 additions & 16 deletions test/data/test_CanMessage_V1_3.trc
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Original file line number Diff line number Diff line change
@@ -1,13 +1,14 @@
;$FILEVERSION=1.3
;$STARTTIME=44548.6028595139
; C:\NewFileName_V1_3.trc
;
; C:\test.trc
; Start time: 18.12.2021 14:28:07.062.0
; Generated by PCAN-Explorer v5.4.0
; Start time: 18.12.2021 14:28:07.062.1
;
; Generated by PEAK-Converter Version 3.0.4.594
; Data imported from C:\test_CanMessage_V1_1.trc
;-------------------------------------------------------------------------------
; Bus Name Connection Protocol Bit rate
; 1 PCAN Untitled@pcan_usb CAN 500 kbit/s
; 2 PTCAN PCANLight_USB_16@pcan_usb CAN
; Bus Name Connection Protocol
; N/A N/A N/A CAN
;-------------------------------------------------------------------------------
; Message Number
; | Time Offset (ms)
Expand All @@ -20,13 +21,15 @@
; | | | | | | | |
; | | | | | | | |
;---+-- ------+------ +- --+-- ----+--- +- -+-- -+ -- -- -- -- -- -- --
1) 17535.4 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
2) 17700.3 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
3) 17873.8 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
4) 19295.4 1 Tx 0000 - 8 00 00 00 00 00 00 00 00
5) 19500.6 1 Tx 0000 - 8 00 00 00 00 00 00 00 00
6) 19705.2 1 Tx 0000 - 8 00 00 00 00 00 00 00 00
7) 20592.7 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
8) 20798.6 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
9) 20956.0 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
10) 21097.1 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
1) 17535.400 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
2) 17540.300 1 Warng FFFFFFFF - 4 00 00 00 08 BUSHEAVY
3) 17700.300 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
4) 17873.800 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
5) 19295.400 1 Tx 0000 - 8 00 00 00 00 00 00 00 00
6) 19500.600 1 Tx 0000 - 8 00 00 00 00 00 00 00 00
7) 19705.200 1 Tx 0000 - 8 00 00 00 00 00 00 00 00
8) 20592.700 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
9) 20798.600 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
10) 20956.000 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
11) 21097.100 1 Tx 00000100 - 8 00 00 00 00 00 00 00 00
12) 48937.600 1 Rx 0704 - 1 RTR
11 changes: 6 additions & 5 deletions test/data/test_CanMessage_V2_0_BUS1.trc
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Original file line number Diff line number Diff line change
Expand Up @@ -2,18 +2,18 @@
;$STARTTIME=44548.6028595139
;$COLUMNS=N,O,T,I,d,l,D
;
; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V2_0_BUS1.trc
; C:\test_CanMessage_V2_0_BUS1.trc
; Start time: 18.12.2021 14:28:07.062.001
; Generated by PEAK-Converter Version 2.2.4.136
; Data imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc
; Generated by PEAK-Converter Version 3.0.4.594
; Data imported from C:\test_CanMessage_V1_1.trc
;-------------------------------------------------------------------------------
; Connection Bit rate
; N/A N/A
; N/A N/A
;-------------------------------------------------------------------------------
; Message Time Type ID Rx/Tx
; Number Offset | [hex] | Data Length
; | [ms] | | | | Data [hex] ...
; | | | | | | |
; | | | | | | |
;---+-- ------+------ +- --+----- +- +- +- -- -- -- -- -- -- --
1 17535.400 DT 00000100 Tx 8 00 00 00 00 00 00 00 00
2 17540.300 ST Rx 00 00 00 08
Expand All @@ -26,3 +26,4 @@
9 20798.600 DT 00000100 Tx 8 00 00 00 00 00 00 00 00
10 20956.000 DT 00000100 Tx 8 00 00 00 00 00 00 00 00
11 21097.100 DT 00000100 Tx 8 00 00 00 00 00 00 00 00
12 48937.600 RR 0704 Rx 1
11 changes: 6 additions & 5 deletions test/data/test_CanMessage_V2_1.trc
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Original file line number Diff line number Diff line change
Expand Up @@ -2,19 +2,19 @@
;$STARTTIME=44548.6028595139
;$COLUMNS=N,O,T,B,I,d,R,L,D
;
; C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V2_1.trc
; C:\test_CanMessage_V2_1.trc
; Start time: 18.12.2021 14:28:07.062.001
; Generated by PEAK-Converter Version 2.2.4.136
; Data imported from C:\Users\User\Desktop\python-can\test\data\test_CanMessage_V1_1.trc
; Generated by PEAK-Converter Version 3.0.4.594
; Data imported from C:\test_CanMessage_V1_1.trc
;-------------------------------------------------------------------------------
; Bus Name Connection Protocol
; N/A N/A N/A N/A
; N/A N/A N/A N/A
;-------------------------------------------------------------------------------
; Message Time Type ID Rx/Tx
; Number Offset | Bus [hex] | Reserved
; | [ms] | | | | | Data Length Code
; | | | | | | | | Data [hex] ...
; | | | | | | | | |
; | | | | | | | | |
;---+-- ------+------ +- +- --+----- +- +- +--- +- -- -- -- -- -- -- --
1 17535.400 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00
2 17540.300 ST 1 - Rx - 4 00 00 00 08
Expand All @@ -27,3 +27,4 @@
9 20798.600 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00
10 20956.000 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00
11 21097.100 DT 1 00000100 Tx - 8 00 00 00 00 00 00 00 00
12 48937.600 RR 1 0704 Rx - 1
16 changes: 16 additions & 0 deletions test/logformats_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -990,6 +990,7 @@ def test_can_message(self):
("V1_0", "test_CanMessage_V1_0_BUS1.trc", False),
("V1_1", "test_CanMessage_V1_1.trc", True),
("V1_3", "test_CanMessage_V1_3.trc", True),
("V2_0", "test_CanMessage_V2_0_BUS1.trc", True),
("V2_1", "test_CanMessage_V2_1.trc", True),
]
)
Expand Down Expand Up @@ -1029,6 +1030,20 @@ def msg_ext(timestamp):
msg.is_rx = False
return msg

def msg_rtr(timestamp):
msg = can.Message(
timestamp=timestamp + start_time,
arbitration_id=0x704,
is_extended_id=False,
is_remote_frame=True,
channel=1,
dlc=1,
data=[],
)
if is_rx_support:
msg.is_rx = True
return msg

expected_messages = [
msg_ext(17.5354),
msg_ext(17.7003),
Expand All @@ -1040,6 +1055,7 @@ def msg_ext(timestamp):
msg_ext(20.7986),
msg_ext(20.9560),
msg_ext(21.0971),
msg_rtr(48.9376),
]
actual = self._read_log_file(filename)
self.assertMessagesEqual(actual, expected_messages)
Expand Down