首先利用ES581使用的動態鏈庫（C++封裝）icsneo40.dll，本文將icsneo40.dll進行了二次封裝（僅封裝了icsneo40.dll中的原始函式），本文將用python實現ES581的傳送與接收，即透過呼叫C#的庫實現收發，若想進一步瞭解函式介面，可查閱ics文件。
實現核心程式碼在ES581.py中，在ES581Demo.py中展示呼叫示例：
ES581.py：from enum import Enumimport win32api,win32conimport clrimport timeclr.FindAssembly("ICSNeoDevice.dll")clr.AddReference('ICSNeoDevice')from ICSNeoDevice import *icsNeo = ICSNeo()m_bPortOpen = Falsem_hObject = 0; # handle for deviceiOpenDeviceType = 0; # Storage for the device type that is openarbIDHeader = '101'class eHardwardTypes(Enum): NEODEVICE_UNKNOWN = 0x00000000 NEODEVICE_BLUE = 0x00000001 NEODEVICE_ECU_AVB = 0x00000002 NEODEVICE_RADSUPERMOON = 0x00000003 NEODEVICE_DW_VCAN = 0x00000004 NEODEVICE_RADMOON2 = 0x00000005 NEODEVICE_RADGIGALOG = 0x00000006 NEODEVICE_VCAN41 = 0x00000007 NEODEVICE_FIRE = 0x00000008 NEODEVICE_RADPLUTO = 0x00000009 NEODEVICE_VCAN42_EL = 0x0000000a NEODEVICE_RADIO_CANHUB = 0x0000000b NEODEVICE_NEOECU12 = 0x0000000c NEODEVICE_OBD2_LCBADGE = 0x0000000d NEODEVICE_RAD_MOON_DUO = 0x0000000e NEODEVICE_VCAN3 = 0x00000010 NEODEVICE_RADJUPITER = 0x00000011 NEODEVICE_VCAN4_IND = 0x00000012 NEODEVICE_GIGASTAR = 0x00000013 NEODEVICE_ECU22 = 0x00000015 NEODEVICE_RED = 0x00000040 NEODEVICE_ECU = 0x00000080 NEODEVICE_IEVB = 0x00000100 NEODEVICE_PENDANT = 0x00000200 NEODEVICE_OBD2_PRO = 0x00000400 NEODEVICE_PLASMA = 0x00001000 NEODEVICE_NEOANALOG = 0x00004000 NEODEVICE_CT_OBD = 0x00008000 NEODEVICE_ION = 0x00040000 NEODEVICE_RADSTAR = 0x00080000 NEODEVICE_VCAN44 = 0x00200000 NEODEVICE_VCAN42 = 0x00400000 NEODEVICE_CMPROBE = 0x00800000 NEODEVICE_EEVB = 0x01000000 NEODEVICE_VCANRF = 0x02000000 NEODEVICE_FIRE2 = 0x04000000 NEODEVICE_FLEX = 0x08000000 NEODEVICE_RADGALAXY = 0x10000000 NEODEVICE_RADSTAR2 = 0x20000000 NEODEVICE_VIVIDCAN = 0x40000000 NEODEVICE_OBD2_SIM = 0x80000000 NEODEVICE_ALL = 0xFFFFBFFFclass eDATA_STATUS_BITFIELD_1(Enum): SPY_STATUS_GLOBAL_ERR = 0x01 SPY_STATUS_TX_MSG = 0x2 SPY_STATUS_XTD_FRAME = 0x04 SPY_STATUS_REMOTE_FRAME = 0x08 SPY_STATUS_CRC_ERROR = 0x10 SPY_STATUS_CAN_ERROR_PASSIVE = 0x20 SPY_STATUS_INCOMPLETE_FRAME = 0x40 SPY_STATUS_LOST_ARBITRATION = 0x80 SPY_STATUS_UNDEFINED_ERROR = 0x100 SPY_STATUS_CAN_BUS_OFF = 0x200 SPY_STATUS_CAN_ERROR_WARNING = 0x400 SPY_STATUS_BUS_SHORTED_PLUS = 0x800 SPY_STATUS_BUS_SHORTED_GND = 0x1000 SPY_STATUS_CHECKSUM_ERROR = 0x2000 SPY_STATUS_BAD_MESSAGE_BIT_TIME_ERROR = 0x4000 SPY_STATUS_IFR_DATA = 0x8000 SPY_STATUS_COMM_IN_OVERFLOW = 0x10000 SPY_STATUS_COMM_OUT_OVERFLOW = 0x20000 SPY_STATUS_COMM_MISC_ERROR = 0x40000 SPY_STATUS_BREAK = 0x80000 SPY_STATUS_AVSI_REC_OVERFLOW = 0x100000 SPY_STATUS_TEST_TRIGGER = 0x200000 SPY_STATUS_AUDIO_COMMENT = 0x400000 SPY_STATUS_GPS_DATA = 0x800000 SPY_STATUS_ANALOG_DIGITAL_INPUT = 0x1000000 SPY_STATUS_TEXT_COMMENT = 0x2000000 SPY_STATUS_NETWORK_MESSAGE_TYPE = 0x4000000 SPY_STATUS_VSI_TX_UNDERRUN = 0x8000000 SPY_STATUS_VSI_IFR_CRC_BIT = 0x10000000 SPY_STATUS_INIT_MESSAGE = 0x20000000 SPY_STATUS_HIGH_SPEED = 0x40000000 SPY_STATUS_FLEXRAY_SECOND_STARTUP_FRAME = 0x40000000 SPY_STATUS_EXTENDED = 0x80000000 # if this bit is set than decode status bitfield3 in the ackbytesclass eNumberOfBytes(Enum): NUMBER_OF_BYTES_0 = 0 NUMBER_OF_BYTES_1 = 1 NUMBER_OF_BYTES_2 = 2 NUMBER_OF_BYTES_3 = 3 NUMBER_OF_BYTES_4 = 4 NUMBER_OF_BYTES_5 = 5 NUMBER_OF_BYTES_6 = 6 NUMBER_OF_BYTES_7 = 7 NUMBER_OF_BYTES_8 = 8class ePROTOCOL(Enum): SPY_PROTOCOL_CUSTOM = 0 SPY_PROTOCOL_CAN = 1 SPY_PROTOCOL_GMLAN = 2 SPY_PROTOCOL_J1850VPW = 3 SPY_PROTOCOL_J1850PWM = 4 SPY_PROTOCOL_ISO9141 = 5 SPY_PROTOCOL_Keyword2000 = 6 SPY_PROTOCOL_GM_ALDL_UART = 7 SPY_PROTOCOL_CHRYSLER_CCD = 8 SPY_PROTOCOL_CHRYSLER_SCI = 9 SPY_PROTOCOL_FORD_UBP = 10 SPY_PROTOCOL_BEAN = 11 SPY_PROTOCOL_LIN = 12 SPY_PROTOCOL_J1708 = 13 SPY_PROTOCOL_CHRYSLER_JVPW = 14 SPY_PROTOCOL_J1939 = 15 SPY_PROTOCOL_FLEXRAY = 16 SPY_PROTOCOL_MOST = 17 SPY_PROTOCOL_CGI = 18 SPY_PROTOCOL_GME_CIM_SCL_KLINE = 19 SPY_PROTOCOL_SPI = 20 SPY_PROTOCOL_I2C = 21 SPY_PROTOCOL_GENERIC_UART = 22 SPY_PROTOCOL_JTAG = 23 SPY_PROTOCOL_UNIO = 24 SPY_PROTOCOL_DALLAS_1WIRE = 25 SPY_PROTOCOL_GENERIC_MANCHSESTER = 26 SPY_PROTOCOL_SENT_PROTOCOL = 27 SPY_PROTOCOL_UART = 28 SPY_PROTOCOL_ETHERNET = 29 SPY_PROTOCOL_CANFD = 30 SPY_PROTOCOL_GMFSA = 31 SPY_PROTOCOL_TCP = 32class eNETWORK_ID(Enum): NETID_DEVICE = 0 NETID_HSCAN = 1 NETID_MSCAN = 2 NETID_SWCAN = 3 NETID_LSFTCAN = 4 NETID_ISO = 9 NETID_ISO2 = 14 NETID_ISO14230 = 15 NETID_LIN = 16 NETID_OP_ETHERNET1 = 17 NETID_OP_ETHERNET2 = 18 NETID_OP_ETHERNET3 = 19 NETID_ISO3 = 41 NETID_HSCAN2 = 42 NETID_HSCAN3 = 44 NETID_OP_ETHERNET4 = 45 NETID_OP_ETHERNET5 = 46 NETID_ISO4 = 47 NETID_LIN2 = 48 NETID_LIN3 = 49 NETID_LIN4 = 50 NETID_MOST = 51 NETID_CGI = 53 NETID_HSCAN4 = 61 NETID_HSCAN5 = 62 NETID_UART = 64 NETID_UART2 = 65 NETID_UART3 = 66 NETID_UART4 = 67 NETID_SWCAN2 = 68 NETID_ETHERNET_DAQ = 69 NETID_OP_ETHERNET6 = 73 NETID_OP_ETHERNET7 = 75 NETID_OP_ETHERNET8 = 76 NETID_OP_ETHERNET9 = 77 NETID_OP_ETHERNET10 = 78 NETID_OP_ETHERNET11 = 79 NETID_FLEXRAY1A = 80 NETID_FLEXRAY1B = 81 NETID_FLEXRAY2A = 82 NETID_FLEXRAY2B = 83 NETID_LIN5 = 84 NETID_FLEXRAY = 85 NETID_FLEXRAY2 = 86 NETID_OP_ETHERNET12 = 87 NETID_MOST25 = 90 NETID_MOST50 = 91 NETID_MOST150 = 92 NETID_ETHERNET = 93 NETID_HSCAN6 = 96 NETID_HSCAN7 = 97 NETID_LIN6 = 98 NETID_LSFTCAN2 = 99class stCM_ISO157652_TxMessage_Flags(Enum): id_29_bit_enable = 1 # Enables 29 bit arbId for transmitted frames. Set to 1 so transmitted frames use 29 bit ids, not supported. fc_id_29_bit_enable = 2 #< Enables 29 bit arbId for Flow Control filter. Set to 1 if receiver response uses 29 bit ids, not supported. ext_address_enable = 4 # Enables Extended Addressing, Set to 1 if transmitted frames should have extended addres byte, not supported. fc_ext_address_enable = 8 #< Enables Extended Addressing for Flow Control filter. Set to 1 if receiver responds with extended address byte, not supported. overrideSTmin = 16 #Uses member stMin and not receiver's flow control's stMin. overrideBlockSize = 32 #< Uses member BlockSize and not receiver's flow control's BlockSize. paddingEnable = 64 #Enable's padding iscanFD = 128 #Enables CAN FD isBSREnabled = 256 #Enables BSRclass filter: arbID = 0 data0 = 0 data1 = 0 data2 = 0 data3 = 0 data4 = 0def OpenDevice(): bNetwork = bytearray(255) iNumberOfDevices = 0 #Number of hardware devices to look for iCount = 0 #counter stringSize = 6 bSN = bytearray(6) #check if the port is already open global m_bPortOpen if m_bPortOpen == True: return #file NetworkID array for iCount in range(0, 255): bNetwork.insert(iCount, iCount)#int(iCount).to_bytes(length=2, byteorder='big', signed=True)) # Set the number of devices to find,for this example look for 16. This example will only work with the first. iNumberOfDevices = 15 deviceClass = NeoDevice() #search for connected hardware iResult = icsNeo.icsneoFindNeoDevices(eHardwardTypes.NEODEVICE_ALL.value, deviceClass, iNumberOfDevices) deviceClass = iResult[1] iNumberOfDevices = iResult[2] if iResult[0] == 0: win32api.MessageBox(0, "Problem finding devices", "提示", win32con.MB_OK) return if(iNumberOfDevices < 1): win32api.MessageBox(0, "No devices found", "提示", win32con.MB_OK) return global m_hObject global iOpenDeviceType m_hObject = icsNeo.GetIntPtr() iOpenDeviceType = 10 iResult = icsNeo.icsneoOpenNeoDevice(deviceClass, m_hObject, bNetwork, 1, 0) iOpenDeviceType = iResult[1] #set the device types for later use m_hObject = iResult[2] bNetwork = iResult[3] if iResult[0] == 1: # win32api.MessageBox(0, "Port Opened OK!", "提示", win32con.MB_OK) print('Port Opened OK!') else: win32api.MessageBox(0, "Problem Opening Port！", "提示", win32con.MB_OK) return #display the connect hardware type if deviceClass.DeviceType == eHardwardTypes.NEODEVICE_BLUE.value: print('neoVI Blue SN', deviceClass.SerialNumber) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_DW_VCAN.value: print('Value CAN 2 SN', deviceClass.SerialNumber) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_FIRE.value: print('neoVI FIRE SN ', deviceClass.SerialNumber) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_VCAN3.value: print('ValueCAN 3 SN', deviceClass.SerialNumber) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_FIRE2.value: neoResult = icsNeo.icsneoSerialNumberToString(deviceClass.SerialNumber, bSN[0], stringSize) bSN = neoResult[1] stringSize = neoResult[2] print('neoVI FIRE 2 SN ',str(bSN, encoding = "utf-8")) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_PLASMA.value: print('neoVI PLASMA SN ', deviceClass.SerialNumber) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_ION.value: print('neoVI ION SN ', deviceClass.SerialNumber) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_VCANRF.value: neoResult = icsNeo.icsneoSerialNumberToString(deviceClass.SerialNumber, bSN[0], stringSize) bSN = neoResult[1] stringSize = neoResult[2] print('ValueCAN.rf SN ', str(bSN, encoding = "utf-8")) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_RADGALAXY.value: neoResult = icsNeo.icsneoSerialNumberToString(deviceClass.SerialNumber, bSN[0], stringSize) bSN = neoResult[1] stringSize = neoResult[2] print('RadGalaxy SN ', str(bSN, encoding = "utf-8")) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_VCAN41.value: neoResult = icsNeo.icsneoSerialNumberToString(deviceClass.SerialNumber, bSN[0], stringSize) bSN = neoResult[1] stringSize = neoResult[2] print('ValueCAN 4-1 SN ', str(bSN, encoding = "utf-8")) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_VCAN42.value: neoResult = icsNeo.icsneoSerialNumberToString(deviceClass.SerialNumber, bSN[0], stringSize) bSN = neoResult[1] stringSize = neoResult[2] print('ValueCAN 4-2 SN ', str(bSN, encoding = "utf-8")) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_VCAN42_EL.value: neoResult = icsNeo.icsneoSerialNumberToString(deviceClass.SerialNumber, bSN[0], stringSize) bSN = neoResult[1] stringSize = neoResult[2] print('ValueCAN 4-2 SN ', str(bSN, encoding = "utf-8")) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_RADPLUTO.value: neoResult = icsNeo.icsneoSerialNumberToString(deviceClass.SerialNumber, bSN[0], stringSize) bSN = neoResult[1] stringSize = neoResult[2] print('RAD Pluto SN ', str(bSN, encoding = "utf-8")) elif deviceClass.DeviceType == eHardwardTypes.NEODEVICE_RADSUPERMOON.value: neoResult = icsNeo.icsneoSerialNumberToString(deviceClass.SerialNumber, bSN[0], stringSize) bSN = neoResult[1] stringSize = neoResult[2] print('RAD SuperMoon SN ', str(bSN, encoding = "utf-8")) else: print('Unknown neoVI SN ', deviceClass.SerialNumber) m_bPortOpen = True time.sleep(1)def SendCANMessage(lNetworkID, IsExtendedID, data): if data.__len__() <= 0: print('send data of length is not 8 bytes') return messageClass = icsSpyMessage() # Has the uset open neoVI yet? if m_bPortOpen == False: win32api.MessageBox(0, "neoVI not opened!", "提示", win32con.MB_OK) return if IsExtendedID == True: # Make id Extended messageClass.StatusBitField = eDATA_STATUS_BITFIELD_1.SPY_STATUS_XTD_FRAME.value else: messageClass.StatusBitField = 0 messageClass.ArbIDOrHeader = int(arbIDHeader, 16) messageClass.NumberBytesData = eNumberOfBytes.NUMBER_OF_BYTES_8.value if messageClass.NumberBytesData > 8: messageClass.NumberBytesData = 8 messageClass.Data1 = data[0] messageClass.Data2 = data[1] messageClass.Data3 = data[2] messageClass.Data4 = data[3] messageClass.Data5 = data[4] messageClass.Data6 = data[5] messageClass.Data7 = data[6] messageClass.Data8 = data[7] # Transmit the assembled message numberMessage = 1 iResult = icsNeo.icsneoTxMessages(m_hObject, messageClass, lNetworkID, numberMessage) # messageClass = iResult[1] if iResult[0] != 1: win32api.MessageBox(0, "Problem Transmitting Message!", "提示", win32con.MB_OK) else: print('send CAN message success！') time.sleep(1)def SendISO15765Message(networkID, arbID, flowControlArbID, numberOfDataSize, IsCheckPadding, IsCheckExtenedID, IsCheckFCExtenedID, IsUseCANFD, bydata): # Has the uset open neoVI yet? if m_bPortOpen == False:# check to see if the port is opened first print('Device is Not Opened!') return # Create Message and adjust array to proper size txMsg = stCM_ISO157652_TxMessage() txMsg.data = bytearray(4096) lResult = icsNeo.icsneoISO15765_EnableNetworks(m_hObject, networkID) txMsg.id = int(arbID, 16) #int txMsg.vs_netid = networkID #int txMsg.num_bytes = numberOfDataSize #int txMsg.padding = 0xAA # set padding byte txMsg.flags = 0 iFlags = 0 if IsCheckPadding == True: iFlags = iFlags | stCM_ISO157652_TxMessage_Flags.paddingEnable if IsCheckExtenedID == True: iFlags = iFlags | stCM_ISO157652_TxMessage_Flags.id_29_bit_enable if IsCheckFCExtenedID == True: iFlags = iFlags | stCM_ISO157652_TxMessage_Flags.fc_id_29_bit_enable if IsUseCANFD == True: iFlags = iFlags | stCM_ISO157652_TxMessage_Flags.iscanFD if IsUseCANFD == True: iFlags = iFlags | stCM_ISO157652_TxMessage_Flags.isBSREnabled txMsg.flags = iFlags txMsg.fc_id = int(flowControlArbID, 16) txMsg.fc_id_mask = 0xfff # The flow control arb filter mask (response id from receiver) txMsg.flowControlExtendedAddress = int(IsCheckExtenedID) #Extended ID txMsg.fs_timeout = 0x100 #Flow Control Time out in ms txMsg.fs_wait = 0x3000 #Flow Control FS=Wait Timeout ms txMsg.blockSize = 0 #Block size (for sending flow Control) txMsg.stMin = 0 # fill data blockTimeout = 3000 for iCount in range(0, len(bydata)): txMsg.data[iCount] = bydata[iCount] lResult = icsNeo.icsneoISO15765Message(m_hObject, networkID, txMsg, blockTimeout) # txMsg = lResult[1] # Test the returned result if lResult[0] != 1: print('Problem Transmitting Message') print('send iso15756 message success!') time.sleep(1)def GetMessage(filter): if m_bPortOpen != True: return lNumberOfMessages = 0 lNumberOfErrors = 0 stJMsg = icsSpyMessageJ1850() iByteCount = 0 iLongMessageTotalByteCount = 0 dTime = 0 iDataBytes = bytearray() if m_hObject == False: win32api.MessageBox(0, "neoVI not opened!", "提示", win32con.MB_OK) # read the messages from the driver global icsSpyMessage icsSpyMessage = icsSpyMessage() # icsSpyMessageArray = icsNeo.getICSSpyMessageArray(1024 * 1024)#TempSpace for messages icsSpyMessageArray = getNotBuidInArray(icsSpyMessage, 1024 * 1024); print('object=', m_hObject) iResult = icsNeo.icsneoGetMessages(m_hObject, icsSpyMessageArray, lNumberOfMessages, lNumberOfErrors) icsSpyMessageArray = iResult[1] lNumberOfMessages = iResult[2] lNumberOfErrors = iResult[3] print('Number Read:', lNumberOfMessages) print('Number Errors:', lNumberOfErrors) # was the read successful? if iResult[0] != 1: win32api.MessageBox(0, "Problem Reading Messages!", "提示", win32con.MB_OK) return icount = lNumberOfMessages + 1 for lCount in range(1, icount): iResult = icsNeo.icsneoGetTimeStampForMsg(m_hObject, icsSpyMessageArray[lCount - 1], dTime) dTime = iResult[2] sListString = "time:" + str(dTime) + " lCount=" + str(lCount) + " "; # Was it a tx or rx message if (icsSpyMessageArray[lCount - 1].StatusBitField & eDATA_STATUS_BITFIELD_1.SPY_STATUS_TX_MSG.value) > 0: sListString = sListString + "Tx " else: sListString = sListString + "Rx " # Decode based on the protocol if icsSpyMessageArray[lCount - 1].Protocol == ePROTOCOL.SPY_PROTOCOL_CAN.value: sListString = sListString + "Network " + GetStringForNetworkID(icsSpyMessageArray[lCount - 1].NetworkID) + " ArbID:" + hex(icsSpyMessageArray[lCount - 1].ArbIDOrHeader) + " Data:" elif icsSpyMessageArray[lCount - 1].Protocol == ePROTOCOL.SPY_PROTOCOL_CANFD.value: sListString = sListString elif icsSpyMessageArray[lCount - 1].Protocol == ePROTOCOL.SPY_PROTOCOL_ETHERNET.value: if icsSpyMessageArray[lCount - 1].ExtraDataPtrEnabled == 0: # 8 bytes of data sListString = sListString + "Network " + GetStringForNetworkID(icsSpyMessageArray[lCount - 1].NetworkID) + " FD ArbID:" + hex(icsSpyMessageArray[lCount - 1].ArbIDOrHeader) + " Data:" else : if icsSpyMessageArray[lCount - 1].Protocol == ePROTOCOL.SPY_PROTOCOL_CANFD.value: #count for CAN FD iLongMessageTotalByteCount = icsSpyMessageArray[lCount - 1].NumberBytesData else : #count for Ethernet iLongMessageTotalByteCount = icsSpyMessageArray[lCount - 1].NumberBytesHeader * 0x100 + icsSpyMessageArray[lCount - 1].NumberBytesData #more than 8 bytes of data iDataBytes = bytearray(iLongMessageTotalByteCount) dataResult = icsNeo.GetMessageDataBuffer(icsSpyMessageArray, iDataBytes, iLongMessageTotalByteCount, lCount) iDataBytes = dataResult[1] sListString = sListString + "Network " + GetStringForNetworkID(icsSpyMessageArray[lCount - 1].NetworkID) if icsSpyMessageArray[lCount - 1].Protocol == ePROTOCOL.SPY_PROTOCOL_CANFD: sListString = sListString + "FD ArbID : " +hex(icsSpyMessageArray[lCount - 1].ArbIDOrHeader) sListString = sListString + " Data " for iByteCount in range(0, iLongMessageTotalByteCount): sListString = sListString + hex(iDataBytes[iByteCount]) else: # list the header bytes dataResult = icsNeo.ConvertCANtoJ1850Message(icsSpyMessageArray[lCount - 1], stJMsg) stJMsg = dataResult[1] print('stJmsg=', dataResult[0]) print('len=', len(dataResult)) sListString = sListString + "Network " + GetStringForNetworkID(icsSpyMessageArray[lCount - 1].NetworkID) + " Data:" #add the data bytes if stJMsg.NumberBytesHeader >= 1: sListString = sListString + stJMsg.Header1 + " " if stJMsg.NumberBytesHeader >= 2: sListString = sListString + stJMsg.Header2 + " " if stJMsg.NumberBytesHeader >= 3: sListString = sListString + stJMsg.Header3 + " " sListString = sListString + " " if icsSpyMessageArray[lCount - 1].NumberBytesData >= 1 and icsSpyMessageArray[lCount - 1].ExtraDataPtrEnabled == 0: sListString = sListString + hex(icsSpyMessageArray[lCount - 1].Data1) + " " if icsSpyMessageArray[lCount - 1].NumberBytesData >= 2 and icsSpyMessageArray[lCount - 1].ExtraDataPtrEnabled == 0: sListString = sListString + hex(icsSpyMessageArray[lCount - 1].Data2) + " " if icsSpyMessageArray[lCount - 1].NumberBytesData >= 3 and icsSpyMessageArray[lCount - 1].ExtraDataPtrEnabled == 0: sListString = sListString + hex(icsSpyMessageArray[lCount - 1].Data3) + " " if icsSpyMessageArray[lCount - 1].NumberBytesData >= 4 and icsSpyMessageArray[lCount - 1].ExtraDataPtrEnabled == 0: sListString = sListString + hex(icsSpyMessageArray[lCount - 1].Data4) + " " if icsSpyMessageArray[lCount - 1].NumberBytesData >= 5 and icsSpyMessageArray[lCount - 1].ExtraDataPtrEnabled == 0: sListString = sListString + hex(icsSpyMessageArray[lCount - 1].Data5) + " " if icsSpyMessageArray[lCount - 1].NumberBytesData >= 6 and icsSpyMessageArray[lCount - 1].ExtraDataPtrEnabled == 0: sListString = sListString + hex(icsSpyMessageArray[lCount - 1].Data6) + " " if icsSpyMessageArray[lCount - 1].NumberBytesData >= 7 and icsSpyMessageArray[lCount - 1].ExtraDataPtrEnabled == 0: sListString = sListString + hex(icsSpyMessageArray[lCount - 1].Data7) + " " if icsSpyMessageArray[lCount - 1].NumberBytesData >= 8 and icsSpyMessageArray[lCount - 1].ExtraDataPtrEnabled == 0: sListString = sListString + hex(icsSpyMessageArray[lCount - 1].Data8) + " " if icsSpyMessageArray[lCount - 1].Protocol == ePROTOCOL.SPY_PROTOCOL_LIN: sListString = sListString + "CS=" + hex(stJMsg.ACK1) if filter != None: if icsSpyMessageArray[lCount - 1].ArbIDOrHeader == filter.arbID: #set filter data data = icsSpyMessageArray[lCount - 1] # if filter.data1 == data.Data1 and filter.data2 == data.Data2 and filter.data3 == data.Data3: print('receive:', sListString) else: print('receive:', sListString) time.sleep(0.2)def GetStringForNetworkID(networkID): if eNETWORK_ID.NETID_DEVICE.value == networkID: return eNETWORK_ID.NETID_DEVICE.name elif eNETWORK_ID.NETID_HSCAN.value == networkID: return eNETWORK_ID.NETID_HSCAN.name elif eNETWORK_ID.NETID_MSCAN.value == networkID: return eNETWORK_ID.NETID_MSCAN.name elif eNETWORK_ID.NETID_SWCAN.value == networkID: return eNETWORK_ID.NETID_SWCAN.name elif eNETWORK_ID.NETID_LSFTCAN.value == networkID: return eNETWORK_ID.NETID_LSFTCAN.name elif eNETWORK_ID.NETID_ISO.value == networkID: return eNETWORK_ID.NETID_ISO.name elif eNETWORK_ID.NETID_ISO2.value == networkID: return eNETWORK_ID.NETID_ISO2.name elif eNETWORK_ID.NETID_ISO14230.value == networkID: return eNETWORK_ID.NETID_ISO14230.name elif eNETWORK_ID.NETID_LIN.value == networkID: return eNETWORK_ID.NETID_LIN.name elif eNETWORK_ID.NETID_ISO3.value == networkID: return eNETWORK_ID.NETID_ISO3.name elif eNETWORK_ID.NETID_HSCAN2.value == networkID: return eNETWORK_ID.NETID_HSCAN2.name elif eNETWORK_ID.NETID_HSCAN3.value == networkID: return eNETWORK_ID.NETID_HSCAN3.name elif eNETWORK_ID.NETID_ISO4.value == networkID: return eNETWORK_ID.NETID_ISO4.name elif eNETWORK_ID.NETID_LIN2.value == networkID: return eNETWORK_ID.NETID_LIN2.name elif eNETWORK_ID.NETID_LIN3.value == networkID: return eNETWORK_ID.NETID_LIN3.name elif eNETWORK_ID.NETID_LIN4.value == networkID: return eNETWORK_ID.NETID_LIN4.name elif eNETWORK_ID.NETID_LIN5.value == networkID: return eNETWORK_ID.NETID_LIN5.name elif eNETWORK_ID.NETID_MOST.value == networkID: return eNETWORK_ID.NETID_MOST.name elif eNETWORK_ID.NETID_CGI.value == networkID: return eNETWORK_ID.NETID_CGI.name elif eNETWORK_ID.NETID_HSCAN4.value == networkID: return eNETWORK_ID.NETID_HSCAN4.name elif eNETWORK_ID.NETID_HSCAN5.value == networkID: return eNETWORK_ID.NETID_HSCAN5.name elif eNETWORK_ID.NETID_UART.value == networkID: return eNETWORK_ID.NETID_UART.name elif eNETWORK_ID.NETID_UART2.value == networkID: return eNETWORK_ID.NETID_UART2.name elif eNETWORK_ID.NETID_UART3.value == networkID: return eNETWORK_ID.NETID_UART3.name elif eNETWORK_ID.NETID_UART4.value == networkID: return eNETWORK_ID.NETID_UART4.name elif eNETWORK_ID.NETID_SWCAN2.value == networkID: return eNETWORK_ID.NETID_SWCAN2.name elif eNETWORK_ID.NETID_ETHERNET_DAQ.value == networkID: return eNETWORK_ID.NETID_ETHERNET_DAQ.name elif eNETWORK_ID.NETID_FLEXRAY1A.value == networkID: return eNETWORK_ID.NETID_FLEXRAY1A.name elif eNETWORK_ID.NETID_FLEXRAY1B.value == networkID: return eNETWORK_ID.NETID_FLEXRAY1B.name elif eNETWORK_ID.NETID_FLEXRAY2A.value == networkID: return eNETWORK_ID.NETID_FLEXRAY2A.name elif eNETWORK_ID.NETID_FLEXRAY2B.value == networkID: return eNETWORK_ID.NETID_FLEXRAY2B.name elif eNETWORK_ID.NETID_FLEXRAY.value == networkID: return eNETWORK_ID.NETID_FLEXRAY.name elif eNETWORK_ID.NETID_MOST25.value == networkID: return eNETWORK_ID.NETID_MOST25.name elif eNETWORK_ID.NETID_MOST50.value == networkID: return eNETWORK_ID.NETID_MOST50.name elif eNETWORK_ID.NETID_MOST150.value == networkID: return eNETWORK_ID.NETID_MOST150.name elif eNETWORK_ID.NETID_ETHERNET.value == networkID: return eNETWORK_ID.NETID_ETHERNET.name elif eNETWORK_ID.NETID_HSCAN6.value == networkID: return eNETWORK_ID.NETID_HSCAN6.name elif eNETWORK_ID.NETID_HSCAN7.value == networkID: return eNETWORK_ID.NETID_HSCAN7.name elif eNETWORK_ID.NETID_LIN6.value == networkID: return eNETWORK_ID.NETID_LIN6.name elif eNETWORK_ID.NETID_LSFTCAN2.value == networkID: return eNETWORK_ID.NETID_LSFTCAN2.name elif eNETWORK_ID.NETID_OP_ETHERNET1.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET1.name elif eNETWORK_ID.NETID_OP_ETHERNET2.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET2.name elif eNETWORK_ID.NETID_OP_ETHERNET3.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET3.name elif eNETWORK_ID.NETID_OP_ETHERNET4.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET4.name elif eNETWORK_ID.NETID_OP_ETHERNET5.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET5.name elif eNETWORK_ID.NETID_OP_ETHERNET6.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET6.name elif eNETWORK_ID.NETID_OP_ETHERNET7.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET7.name elif eNETWORK_ID.NETID_OP_ETHERNET8.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET8.name elif eNETWORK_ID.NETID_OP_ETHERNE9.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET9.name elif eNETWORK_ID.NETID_OP_ETHERNET10.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET10.name elif eNETWORK_ID.NETID_OP_ETHERNET11.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET11.name elif eNETWORK_ID.NETID_OP_ETHERNET12.value == networkID: return eNETWORK_ID.NETID_OP_ETHERNET12.name else: return "Other"def CloseDevice(): pNumberOfErrors = 0 if m_bPortOpen == False: return if m_hObject == 0: return iResult = icsNeo.icsneoClosePort(m_hObject, pNumberOfErrors) pNumberOfErrors = iResult[1] print("close Device Status:", iResult[0])def getNotBuidInArray(object, size): objects = [] for i in range(0, size): objects.append(object) return objectsES581Demo.py：import ES581 as es581es581.OpenDevice()lNetworkID = es581.eNETWORK_ID.NETID_HSCAN.valueIsExtendedID = False_CANdata = bytearray(b'\x00\x00\x00\x00\x00\x00\x00\x00')# es581.SendCANMessage(lNetworkID, IsExtendedID, _CANdata)networkID = es581.eNETWORK_ID.NETID_HSCAN.valuearbID = '7e0'flowControlArbID = '7e8'numberOfDataSize = 2IsCheckPadding = FalseIsCheckExtenedID = FalseIsCheckFCExtenedID = FalseIsUseCANFD = False_ISO15765data = bytearray(b'\x3b\x01\x02\x03\x04\x05\x06\x07\x08\x09\x0A\x0B\x0C\x0D\x0E\x0F\x11\x22\x33\x44\x55\x66\x77\x88\x99\xAA\xBB\xCC\xDD\xEE\xFF')es581.SendISO15765Message(networkID,arbID ,flowControlArbID , numberOfDataSize, IsCheckPadding, IsCheckExtenedID, IsCheckFCExtenedID, IsUseCANFD, _ISO15765data)arbID = '7df'es581.SendISO15765Message(networkID,arbID ,flowControlArbID , numberOfDataSize, IsCheckPadding, IsCheckExtenedID, IsCheckFCExtenedID, IsUseCANFD, _ISO15765data)filter = es581.filter()filter.arbID = 0x7e8filter.data1 = 0x7ffilter.data2 = 0x3bfilter.data3 = 0x11es581.GetMessage(filter)es581.CloseDevice()可根據自己需求進一步擴充套件與調整，執行部分截圖：