add tests and debug

debug_can_communication.py

@@ -0,0 +1,166 @@
+#!/usr/bin/env python3
+"""
+Debug script for Damiao motor CAN communication on macOS.
+This replaces candump for macOS SLCAN debugging.
+"""
+
+import can
+import time
+import sys
+
+def test_can_communication(port="/dev/cu.usbmodem2101"):
+    """Test basic CAN communication with a Damiao motor."""
+    
+    print("=" * 60)
+    print("Damiao Motor CAN Communication Debug Tool")
+    print("=" * 60)
+    print(f"\nPort: {port}")
+    print()
+    
+    try:
+        # Connect to SLCAN
+        print("Step 1: Connecting to SLCAN...")
+        bus = can.interface.Bus(
+            channel=port,
+            interface='slcan',
+            bitrate=1000000
+        )
+        print("✓ Connected to SLCAN")
+        
+        # Test 1: Send enable command and listen for ANY response
+        print("\n" + "=" * 60)
+        print("Test 1: Enable Motor (ID 0x01)")
+        print("=" * 60)
+        print("Sending enable command to 0x01...")
+        
+        enable_msg = can.Message(
+            arbitration_id=0x01,
+            data=[0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFC],
+            is_extended_id=False
+        )
+        bus.send(enable_msg)
+        print("✓ Enable command sent")
+        
+        print("\nListening for responses (2 seconds)...")
+        print("Expected: Response from 0x11 (master ID)")
+        print()
+        
+        responses = []
+        start_time = time.time()
+        timeout = 2.0
+        
+        while time.time() - start_time < timeout:
+            msg = bus.recv(timeout=0.1)
+            if msg:
+                responses.append(msg)
+                print(f"  → Response from 0x{msg.arbitration_id:02X}: {msg.data.hex()}")
+        
+        if not responses:
+            print("✗ NO RESPONSES RECEIVED")
+            print("\nPossible issues:")
+            print("  1. Motor not powered (check 24V supply)")
+            print("  2. CAN wiring incorrect (CANH, CANL, GND)")
+            print("  3. Motor master ID not set to 0x11")
+            print("  4. SLCAN adapter not working properly")
+            print("  5. Wrong CAN port specified")
+        else:
+            print(f"\n✓ Received {len(responses)} response(s)")
+            
+            # Check if we got response from expected ID
+            recv_ids = [msg.arbitration_id for msg in responses]
+            if 0x11 in recv_ids:
+                print("✓ Motor 0x11 is responding!")
+            else:
+                print(f"⚠ Responses from unexpected IDs: {[hex(id) for id in recv_ids]}")
+        
+        # Test 2: Send refresh command
+        print("\n" + "=" * 60)
+        print("Test 2: Refresh Motor State (ID 0x01)")
+        print("=" * 60)
+        print("Sending refresh command...")
+        
+        refresh_msg = can.Message(
+            arbitration_id=0x7FF,  # Parameter ID
+            data=[0x01, 0x00, 0xCC, 0x00, 0x00, 0x00, 0x00, 0x00],
+            is_extended_id=False
+        )
+        bus.send(refresh_msg)
+        print("✓ Refresh command sent")
+        
+        print("\nListening for responses (2 seconds)...")
+        responses = []
+        start_time = time.time()
+        
+        while time.time() - start_time < timeout:
+            msg = bus.recv(timeout=0.1)
+            if msg:
+                responses.append(msg)
+                print(f"  → Response from 0x{msg.arbitration_id:02X}: {msg.data.hex()}")
+        
+        if not responses:
+            print("✗ NO RESPONSES RECEIVED")
+        else:
+            print(f"\n✓ Received {len(responses)} response(s)")
+        
+        # Test 3: Listen for any spontaneous traffic
+        print("\n" + "=" * 60)
+        print("Test 3: Listen for Any CAN Traffic")
+        print("=" * 60)
+        print("Listening for 5 seconds...")
+        print("(This will catch any background CAN traffic)")
+        print()
+        
+        start_time = time.time()
+        traffic_count = 0
+        
+        while time.time() - start_time < 5.0:
+            msg = bus.recv(timeout=0.1)
+            if msg:
+                traffic_count += 1
+                print(f"  [{time.time() - start_time:.2f}s] ID=0x{msg.arbitration_id:03X}: {msg.data.hex()}")
+        
+        if traffic_count == 0:
+            print("✗ No CAN traffic detected at all")
+            print("\nThis suggests:")
+            print("  - SLCAN adapter may not be working")
+            print("  - No devices on the CAN bus are active")
+            print("  - Wrong port specified")
+        else:
+            print(f"\n✓ Detected {traffic_count} CAN messages")
+        
+        # Cleanup
+        print("\n" + "=" * 60)
+        print("Cleanup")
+        print("=" * 60)
+        print("Sending disable command...")
+        disable_msg = can.Message(
+            arbitration_id=0x01,
+            data=[0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFD],
+            is_extended_id=False
+        )
+        bus.send(disable_msg)
+        time.sleep(0.1)
+        
+        bus.shutdown()
+        print("✓ Disconnected from CAN bus")
+        
+    except Exception as e:
+        print(f"\n✗ Error: {e}")
+        import traceback
+        traceback.print_exc()
+        return False
+    
+    print("\n" + "=" * 60)
+    print("Debug Complete")
+    print("=" * 60)
+    return True
+
+
+if __name__ == "__main__":
+    if len(sys.argv) > 1:
+        port = sys.argv[1]
+    else:
+        port = "/dev/cu.usbmodem2101"
+    
+    test_can_communication(port)
+