Add --timing parameter to CLI tools

can/logger.py

@@ -17,7 +17,7 @@
 import can
 from can import Bus, BusState, Logger, SizedRotatingLogger
 from can.typechecking import TAdditionalCliArgs
-from can.util import cast_from_string
+from can.util import _dict2timing, cast_from_string
 
 if TYPE_CHECKING:
     from can.io import BaseRotatingLogger
@@ -58,6 +58,19 @@ def _create_base_argument_parser(parser: argparse.ArgumentParser) -> None:
         help="Bitrate to use for the data phase in case of CAN-FD.",
     )
 
+    parser.add_argument(
+        "--timing",
+        action=_BitTimingAction,
+        nargs=argparse.ONE_OR_MORE,
+        help="Configure bit rate and bit timing. For example, use "
+        "`--timing f_clock=8_000_000 tseg1=5 tseg2=2 sjw=2 brp=2 nof_samples=1` for classical CAN "
+        "or `--timing f_clock=80_000_000 nom_tseg1=119 nom_tseg2=40 nom_sjw=40 nom_brp=1 "
+        "data_tseg1=29 data_tseg2=10 data_sjw=10 data_brp=1` for CAN FD. "
+        "Check the python-can documentation to verify whether your "
+        "CAN interface supports the `timing` argument.",
+        metavar="TIMING_ARG",
+    )
+
     parser.add_argument(
         "extra_args",
         nargs=argparse.REMAINDER,
@@ -109,6 +122,8 @@ def _create_bus(parsed_args: argparse.Namespace, **kwargs: Any) -> can.BusABC:
         config["data_bitrate"] = parsed_args.data_bitrate
     if getattr(parsed_args, "can_filters", None):
         config["can_filters"] = parsed_args.can_filters
+    if parsed_args.timing:
+        config["timing"] = parsed_args.timing
 
     return Bus(parsed_args.channel, **config)
 
@@ -143,6 +158,36 @@ def __call__(
         setattr(namespace, self.dest, can_filters)
 
 
+class _BitTimingAction(argparse.Action):
+    def __call__(
+        self,
+        parser: argparse.ArgumentParser,
+        namespace: argparse.Namespace,
+        values: Union[str, Sequence[Any], None],
+        option_string: Optional[str] = None,
+    ) -> None:
+        if not isinstance(values, list):
+            raise argparse.ArgumentError(None, "Invalid --timing argument")
+
+        timing_dict: Dict[str, int] = {}
+        for arg in values:
+            try:
+                key, value_string = arg.split("=")
+                value = int(value_string)
+                timing_dict[key] = value
+            except ValueError:
+                raise argparse.ArgumentError(
+                    None, f"Invalid timing argument: {arg}"
+                ) from None
+
+        if not (timing := _dict2timing(timing_dict)):
+            err_msg = "Invalid --timing argument. Incomplete parameters."
+            raise argparse.ArgumentError(None, err_msg)
+
+        setattr(namespace, self.dest, timing)
+        print(timing)
+
+
 def _parse_additional_config(unknown_args: Sequence[str]) -> TAdditionalCliArgs:
     for arg in unknown_args:
         if not re.match(r"^--[a-zA-Z][a-zA-Z0-9\-]*=\S*?$", arg):

doc/bit_timing.rst

@@ -1,10 +1,6 @@
 Bit Timing Configuration
 ========================
 
-.. attention::
-    This feature is experimental. The implementation might change in future
-    versions.
-
 The CAN protocol, specified in ISO 11898, allows the bitrate, sample point
 and number of samples to be optimized for a given application. These
 parameters, known as bit timings, can be adjusted to meet the requirements

test/test_logger.py

@@ -139,6 +139,63 @@ def test_parse_can_filters_list(self):
         )
         assert results.can_filters == expected_can_filters
 
+    def test_parse_timing(self) -> None:
+        can20_args = self.baseargs + [
+            "--timing",
+            "f_clock=8_000_000",
+            "tseg1=5",
+            "tseg2=2",
+            "sjw=2",
+            "brp=2",
+            "nof_samples=1",
+            "--app-name=CANalyzer",
+        ]
+        results, additional_config = can.logger._parse_logger_args(can20_args[1:])
+        assert results.timing == can.BitTiming(
+            f_clock=8_000_000, brp=2, tseg1=5, tseg2=2, sjw=2, nof_samples=1
+        )
+        assert additional_config["app_name"] == "CANalyzer"
+
+        canfd_args = self.baseargs + [
+            "--timing",
+            "f_clock=80_000_000",
+            "nom_tseg1=119",
+            "nom_tseg2=40",
+            "nom_sjw=40",
+            "nom_brp=1",
+            "data_tseg1=29",
+            "data_tseg2=10",
+            "data_sjw=10",
+            "data_brp=1",
+            "--app-name=CANalyzer",
+        ]
+        results, additional_config = can.logger._parse_logger_args(canfd_args[1:])
+        assert results.timing == can.BitTimingFd(
+            f_clock=80_000_000,
+            nom_brp=1,
+            nom_tseg1=119,
+            nom_tseg2=40,
+            nom_sjw=40,
+            data_brp=1,
+            data_tseg1=29,
+            data_tseg2=10,
+            data_sjw=10,
+        )
+        assert additional_config["app_name"] == "CANalyzer"
+
+        # remove f_clock parameter, parsing should fail
+        incomplete_args = self.baseargs + [
+            "--timing",
+            "tseg1=5",
+            "tseg2=2",
+            "sjw=2",
+            "brp=2",
+            "nof_samples=1",
+            "--app-name=CANalyzer",
+        ]
+        with self.assertRaises(SystemExit):
+            can.logger._parse_logger_args(incomplete_args[1:])
+
     def test_parse_additional_config(self):
         unknown_args = [
             "--app-name=CANalyzer",