Merge pull request #5 from RCMast3r/TPMS

TPMS

flake.nix

@@ -9,7 +9,7 @@
     mcap.url = "github:RCMast3r/py_mcap_nix";
     foxglove-websocket.url = "github:RCMast3r/py_foxglove_webserver_nix";
     asyncudp.url = "github:RCMast3r/asyncudp_nix";
-    ht_can_pkg_flake.url = "github:hytech-racing/ht_can";
+    ht_can_pkg_flake.url = "github:hytech-racing/ht_can/TPMS_add";
     nix-proto = { url = "github:notalltim/nix-proto"; };
   };
 

py_data_acq/broadcast-test-TPMS.py

@@ -0,0 +1,64 @@
+#!/usr/bin/env python
+import socket
+import time
+import can
+from can.interfaces.udp_multicast import UdpMulticastBus
+import cantools
+from pprint import pprint
+import os
+
+from hytech_np_proto_py import hytech_pb2
+
+# Define the IP and port for the UDP socket
+# bus1 = can.interface.Bus('can0', bustype='virtual')
+bus1 = can.Bus(channel=UdpMulticastBus.DEFAULT_GROUP_IPv6, interface='udp_multicast')
+def main():
+    path_to_dbc = os.environ.get('DBC_PATH')
+    full_path = os.path.join(path_to_dbc, "hytech.dbc") 
+    # Serialize the message to bytes
+    db = cantools.database.load_file(full_path)
+
+    msg = db.get_message_by_name("MC1_TORQUE_COMMAND")
+    rpm = db.get_message_by_name("MC4_SETPOINTS_COMMAND")
+    tpmsLF_msg = db.get_message_by_name("LF_TTPMS_1")
+    tpmsLR_msg = db.get_message_by_name("LR_TTPMS_1")
+    tpmsRF_msg = db.get_message_by_name("RF_TTPMS_1")
+    tpmsRR_msg = db.get_message_by_name("RR_TTPMS_1")
+
+    data = msg.encode({'torque_command': 100})
+    msg = can.Message(arbitration_id=msg.frame_id, is_extended_id=False, data=data)
+
+    tpmsLF_data = tpmsLF_msg.encode({'LF_TTPMS_SN': 100, 'LF_TTPMS_BAT_V': 100, 'LF_TTPMS_P': 20, 'LF_TTPMS_P_GAUGE': 20})
+    tpmsLF_msg = can.Message(arbitration_id=tpmsLF_msg.frame_id, is_extended_id=False, data=tpmsLF_data)
+
+    tpmsLR_data = tpmsLR_msg.encode({'LR_TTPMS_SN': 100, 'LR_TTPMS_BAT_V': 100, 'LR_TTPMS_P': 20, 'LR_TTPMS_P_GAUGE': 20})
+    tpmsLR_msg = can.Message(arbitration_id=tpmsLR_msg.frame_id, is_extended_id=False, data=tpmsLR_data)
+
+    tpmsRF_data = tpmsRF_msg.encode({'RF_TTPMS_SN': 100, 'RF_TTPMS_BAT_V': 100, 'RF_TTPMS_P': 20, 'RF_TTPMS_P_GAUGE': 20})
+    tpmsRF_msg = can.Message(arbitration_id=tpmsRF_msg.frame_id, is_extended_id=False, data=tpmsRF_data)
+
+    tpmsRR_data = tpmsRR_msg.encode({'RR_TTPMS_SN': 100, 'RR_TTPMS_BAT_V': 100, 'RR_TTPMS_P': 20, 'RR_TTPMS_P_GAUGE': 20})
+    tpmsRR_msg = can.Message(arbitration_id=tpmsRR_msg.frame_id, is_extended_id=False, data=tpmsRR_data)
+
+
+    rpm_set = 100
+    while(1):
+        try:
+            rpm_set= rpm_set+1
+            bus1.send(msg)
+            rpm_data = rpm.encode({'negative_torque_limit': 1, 'positive_torque_limit': 1, 'speed_setpoint_rpm': rpm_set, 'remove_error': 1, 'driver_enable': 1, 'hv_enable': 1, 'inverter_enable': 1})
+            rpm_msg = can.Message(arbitration_id=rpm.frame_id, is_extended_id=False, data=rpm_data)
+            bus1.send(rpm_msg)
+
+            bus1.send(tpmsLF_msg)
+            bus1.send(tpmsLR_msg)
+            bus1.send(tpmsRF_msg)
+            bus1.send(tpmsRR_msg)
+
+            print("Message sent on {}".format(bus1.channel_info))
+        except can.CanError:
+            print("Message NOT sent!  Please verify can0 is working first")
+        time.sleep(0.1)
+
+if __name__ == "__main__":
+    main()

py_data_acq/py_data_acq/web_server/mcap_server.py

@@ -83,7 +83,9 @@ async def start_mcap_generation(self):
 
     async def stop_mcap_generation(self):
         if self.mcap_writer is not None:
-            await self.mcap_writer.__aexit__(None, None, None)
+            # await self.mcap_writer.__aexit__(None, None, None)
+            self.mcap_writer.finish()
+            self.mcap_writer.writing_file.close()
             self.mcap_status_message = "No MCAP file is being written."
             self.mcap_writer = None
 

py_data_acq/runner.py

@@ -23,7 +23,7 @@
 #      - config to inform io handler (say for different CAN baudrates)
 
 can_methods = {
-    "debug": [UdpMulticastBus.DEFAULT_GROUP_IPv6, 'udp_multicast'],
+    "debug": [UdpMulticastBus.DEFAULT_GROUP_IPv4, 'udp_multicast'],
     "local_can_usb_KV": [0, 'kvaser'],
     "local_debug": ["vcan0", 'socketcan']
 }
@@ -43,7 +43,6 @@ async def continuous_can_receiver(can_msg_decoder: cantools.db.Database, message
         # Wait for the next message from the buffer
         msg = await reader.get_message()
         try:
-
             decoded_msg = can_msg_decoder.decode_message(msg.arbitration_id, msg.data, decode_containers=True)
             msg = can_msg_decoder.get_message_by_frame_id(msg.arbitration_id)
             msg = pb_helpers.pack_protobuf_msg(decoded_msg, msg.name.lower(), message_classes)
@@ -87,7 +86,7 @@ async def run(logger):
     else:
 
         print("defaulting to using virtual can interface vcan0")
-        bus = can.Bus(interface='socketcan', channel='vcan0', receive_own_messages=True)
+        bus = can.Bus(channel=UdpMulticastBus.DEFAULT_GROUP_IPv6, interface='udp_multicast')
 
     queue = asyncio.Queue()
     queue2 = asyncio.Queue()
@@ -114,7 +113,7 @@ async def run(logger):
         path_to_mcap = "/home/nixos/recordings"
 
     mcap_writer = HTPBMcapWriter(path_to_mcap, list_of_msg_names, True)
-    mcap_server = MCAPServer(mcap_writer=mcap_writer, path=path_to_mcap)
+    mcap_server = MCAPServer(mcap_writer=mcap_writer, path=path_to_mcap, )
     receiver_task = asyncio.create_task(continuous_can_receiver(db, msg_pb_classes, queue, queue2, bus))           
     fx_task = asyncio.create_task(fxglv_websocket_consume_data(queue, fx_s))
     mcap_task = asyncio.create_task(write_data_to_mcap(queue2, mcap_writer))