this only exists to see the diff between our forks ben

nix_build.sh

@@ -0,0 +1,2 @@
+#! /bin/bash
+nix develop --extra-experimental-features nix-command --extra-experimental-features flakes

py_data_acq/broadcast-test.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python
 import socket
 import time
+import math
 import can
 from can.interfaces.udp_multicast import UdpMulticastBus
 import cantools
@@ -11,32 +12,37 @@
 
 # Define the IP and port for the UDP socket
 # bus1 = can.interface.Bus('can0', bustype='virtual')
+def generate_sine_wave(amplitude, frequency, phase_shift, time_variable):
+    return amplitude * math.sin(2 * math.pi * frequency * time_variable + phase_shift)
+
 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("ID_MC1_TORQUE_COMMAND")
-    rpm = db.get_message_by_name("ID_MC4_SETPOINTS_COMMAND")
-    data = msg.encode({'torque_command': 100})
-
-    msg = can.Message(arbitration_id=msg.frame_id, is_extended_id=False, data=data)
+    # msg = db.get_message_by_name("M166_Current_Info")
+    rpm = db.get_message_by_name("M165_Motor_Position_Info")
+    value=100
+    # data = msg.encode({"D4_DC_Bus_Current": 100,"D1_Phase_A_Current":int(value),"D2_Phase_B_Current":int(value),"D3_Phase_C_Current":int(value)})
 
+    # msg = can.Message(arbitration_id=msg.frame_id, is_extended_id=False, data=data)
+    # print(msg)
     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_set= rpm_set+1
+            # bus1.send(msg)
+            rpm_set = generate_sine_wave(3000,1,90,time.time()) + 3000
+            rpm_data = rpm.encode({'D4_Delta_Resolver_Filtered': int(1), 'D3_Electrical_Output_Frequency': int(1), 'D2_Motor_Speed': rpm_set, 'D1_Motor_Angle_Electrical': int(1)})
             rpm_msg = can.Message(arbitration_id=rpm.frame_id, is_extended_id=False, data=rpm_data)
             bus1.send(rpm_msg)
 
-            print("Message sent on {}".format(bus1.channel_info))
+            # print("Message sent on {}".format(bus1.channel_info))
         except can.CanError:
             print("Message NOT sent!  Please verify can0 is working first")
-        time.sleep(0.05)
+        time.sleep(0.01)
 
 if __name__ == "__main__":
     main()

py_data_acq/daqdiff.txt

@@ -0,0 +1,70 @@
+diff --git a/py_data_acq/broadcast-test.py b/py_data_acq/broadcast-test.py
+index cb6a6d1..0d2e043 100644
+--- a/py_data_acq/broadcast-test.py
++++ b/py_data_acq/broadcast-test.py
+@@ -39,7 +39,7 @@ def main():
+             rpm_msg = can.Message(arbitration_id=rpm.frame_id, is_extended_id=False, data=rpm_data)
+             bus1.send(rpm_msg)
+
+-            print("Message sent on {}".format(bus1.channel_info))
++            # print("Message sent on {}".format(bus1.channel_info))
+         except can.CanError:
+             print("Message NOT sent!  Please verify can0 is working first")
+         time.sleep(0.01)
+diff --git a/py_data_acq/runner.py b/py_data_acq/runner.py
+index 03e5309..06b030e 100644
+--- a/py_data_acq/runner.py
++++ b/py_data_acq/runner.py
+@@ -26,7 +26,7 @@ import logging
+
+ async def continuous_can_receiver(can_msg_decoder: cantools.db.Database, message_classes, queue, q2):
+     with can.Bus(
+-        channel=UdpMulticastBus.DEFAULT_GROUP_IPv6, interface='udp_multicast'
++        interface='socketcan', channel='can0', bitrate=500000
+     ) as bus:
+         reader = can.AsyncBufferedReader()
+         listeners: List[MessageRecipient] = [
+@@ -36,14 +36,16 @@ async def continuous_can_receiver(can_msg_decoder: cantools.db.Database, message
+         notifier = can.Notifier(bus, listeners, loop=loop)
+         while True:
+             msg = await reader.get_message()
+-            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)
+-
+-            data = QueueData(msg.DESCRIPTOR.name, msg)
+-            await queue.put(data)
+-            await q2.put(data)
+-
++            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)
++            	data = QueueData(msg.DESCRIPTOR.name, msg)
++            	await queue.put(data)
++            	await q2.put(data)
++            except:
++            	logger.error("Error on message decode")
++            	continue
+ async def write_data_to_mcap(queue, mcap_writer):
+     async with mcap_writer as mcw:
+         while True:
+@@ -97,4 +99,4 @@ if __name__ == "__main__":
+     logging.basicConfig()
+     logger = logging.getLogger('data_writer_service')
+     logger.setLevel(logging.INFO)
+-    asyncio.run(run(logger))
+\ No newline at end of file
++    asyncio.run(run(logger))
+diff --git a/run_server.sh b/run_server.sh
+index a12624a..0d54236 100755
+--- a/run_server.sh
++++ b/run_server.sh
+@@ -1,4 +1,4 @@
+ #! /bin/bash
+ # nix develop --extra-experimental-features nix-command --extra-experimental-features flakes
+-sh -c 'python3 ./py_data_acq/broadcast-test.py' &
+-python3 ./py_data_acq/runner.py
+\ No newline at end of file
++# sh -c 'python3 ./py_data_acq/broadcast-test.py' &
++python3 ./py_data_acq/runner.py

py_data_acq/py_data_acq/common/protobuf_helpers.py

@@ -23,5 +23,17 @@ def pack_protobuf_msg(cantools_dict: dict, msg_name: str, message_classes):
     if msg_name in message_classes:
         pb_msg = message_classes[msg_name]()
     for key in cantools_dict.keys():
-        setattr(pb_msg, key, cantools_dict[key])
+        try:
+            setattr(pb_msg, key, cantools_dict[key])
+        except TypeError as e:
+            print(f"Caught TypeError: {e}")
+            expected_type = type(getattr(pb_msg, key))
+
+            try:
+                converted_value = expected_type(cantools_dict[key])
+                setattr(pb_msg, key, converted_value)
+                print(f"Successfully set {key} to {converted_value}")
+            except ValueError:
+                print(f"Unable to convert {cantools_dict[key]} to {expected_type.__name__}")
+
     return pb_msg

py_data_acq/runner.py

@@ -26,7 +26,7 @@
 
 async def continuous_can_receiver(can_msg_decoder: cantools.db.Database, message_classes, queue, q2):
     with can.Bus(
-        channel=UdpMulticastBus.DEFAULT_GROUP_IPv6, interface='udp_multicast'
+        interface='socketcan', channel='can0', bitrate=500000
     ) as bus:
         reader = can.AsyncBufferedReader()
         listeners: List[MessageRecipient] = [
@@ -36,14 +36,16 @@ async def continuous_can_receiver(can_msg_decoder: cantools.db.Database, message
         notifier = can.Notifier(bus, listeners, loop=loop)
         while True:
             msg = await reader.get_message()
-            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)
-
-            data = QueueData(msg.DESCRIPTOR.name, msg)
-            await queue.put(data)
-            await q2.put(data)
-
+            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)
+            	data = QueueData(msg.DESCRIPTOR.name, msg)
+            	await queue.put(data)
+            	await q2.put(data)
+            except:
+            	logger.error("Error on message decode")
+            	continue
 async def write_data_to_mcap(queue, mcap_writer):
     async with mcap_writer as mcw:
         while True:
@@ -53,7 +55,7 @@ async def fxglv_websocket_consume_data(queue, foxglove_server):
     async with foxglove_server as fz:
         while True:
             await fz.send_msgs_from_queue(queue)
-
+PORT = 8770
 async def run(logger):
 
     # for example, we will have CAN as our only input as of right now but we may need to add in 
@@ -76,7 +78,9 @@ async def run(logger):
 
 
     list_of_msg_names, msg_pb_classes = pb_helpers.get_msg_names_and_classes()
-    fx_s = HTProtobufFoxgloveServer("0.0.0.0", 8765, "asdf", full_path, list_of_msg_names)
+
+    logger.info(f"Start server with port {PORT}")
+    fx_s = HTProtobufFoxgloveServer("0.0.0.0", PORT, "asdf", full_path, list_of_msg_names)
 
     mcap_writer = HTPBMcapWriter(".", list_of_msg_names, True)
 
@@ -95,4 +99,4 @@ async def run(logger):
     logging.basicConfig()
     logger = logging.getLogger('data_writer_service')
     logger.setLevel(logging.INFO)
-    asyncio.run(run(logger))
+    asyncio.run(run(logger))