20230207 pixkit experiment

Author: nomokazu

manual.txt

@@ -0,0 +1,6 @@
+102#F10000111100F001
+102#F100008888000F80
+102#8F00008888000F80
+102#01F00011110000F1
+102#800F0088880000F1
+102#800F00888800008F

manualsend.py

@@ -0,0 +1,15 @@
+import subprocess
+import time
+
+while True:
+    # STEERING
+    # subprocess.run(["cansend", "slcan0", "102#01F00011110000F1"])
+    # subprocess.run(["cansend", "slcan0", "102#01F0002000000000"])
+    
+    # BRAKE
+    # subprocess.run(["cansend", "slcan0", "101#11F0002000000000"])
+
+    #subprocess.run(["cansend", "slcan0", "105#0000000000000000"])
+    subprocess.run(["cansend","slcan0","103#0001010200000000"])
+    print("send")
+    time.sleep(0.02)

msg.py

@@ -77,9 +77,10 @@ def setDataFromInt(self, Steer_EnState, Steer_Flt1, Steer_Flt2, Steer_AngleActua
         self.toData()
 
 class Steering_Command:
-    def __init__(self):
+    def __init__(self, crc):
         self.msg_id = 0x102
         self.msg_name = "Steering_Command"
+        self.crc = crc
 
     # チェックサムは、後回し
     def setDataFromInt(self, Steer_EnCtrl, Steer_AngleSpeed, Steer_AngleTarget):
@@ -109,8 +110,9 @@ def toData(self):
 
 
         # チェックサムはダミー
-        self.checksum_102 = 0
-        self.data[7] = self.checksum_102
+        self.checksum_102 = self.data[0] ^ self.data[1] ^ self.data[2] ^ self.data[3] ^ self.data[4] ^ self.data[5] ^ self.data[6]
+        self.data[7] = self.crc
+        print(self.data[7])
 
     def view(self):
         print("--- CAN ID = " + str(hex(self.msg_id)).ljust(3,"-") + "----- msg_name = " + str(self.msg_name).ljust(20,"-") +  "--")
@@ -137,7 +139,7 @@ def dataParser(self):
         self.raw_Brake_EnState = self.data[0].to_bytes(1, byteorder='big')
         self.raw_Brake_Flt1 = self.data[1].to_bytes(1, byteorder='big')
         self.raw_Brake_Flt2 = self.data[2].to_bytes(1, byteorder='big')
-        self.raw_Brake_PedalActual = self.data[3:4+1].to_bytes(1, byteorder='big')
+        self.raw_Brake_PedalActual = self.data[3:4+1]
 
     # それぞれのデータについて、bytearray型 から Int 型にして取り出す
     def toInt(self):
@@ -210,7 +212,7 @@ def dataParser(self):
         self.raw_Dirve_EnState = self.data[0].to_bytes(1, byteorder='big')
         self.raw_Dirve_Flt1 = self.data[1].to_bytes(1, byteorder='big')
         self.raw_Dirve_Flt2 = self.data[2].to_bytes(1, byteorder='big')
-        self.raw_Dirve_ThrottlePedalActual = self.data[3:4+1].to_bytes(1, byteorder='big')
+        self.raw_Dirve_ThrottlePedalActual = self.data[3:4+1]
 
     # それぞれのデータについて、bytearray型 から Int 型にして取り出す
     def toInt(self):

receive/main.py

@@ -2,7 +2,7 @@
 import time
 
 # バスタイプはよくわからない
-bus = can.interface.Bus(bustype='vector', channel=0, bitrate=500000, app_name='python-can')
+bus = can.interface.Bus(bustype='socketcan', channel="slcan0", bitrate=500000, app_name='python-can')
 
 #受信
 start_time = time.time()
@@ -12,6 +12,6 @@
 while True:
 	message = bus.recv(timeout=1)
 	if message != None:
-		print("CAN ID : " + str(message.arbitration_id))
+		print("CAN ID : " + hex(message.arbitration_id))
 		# 果たしてこれがどんなデータになるかわからん
 		print("Data : " + str(message.data))

send.py

@@ -1,23 +1,26 @@
 import msg
 import can
+import time
 
 #バス接続
-bus = can.interface.Bus(bustype='virtual', channel=0, bitrate=500000, app_name='python-can')
+bus = can.interface.Bus(bustype='socketcan', channel="slcan0", bitrate=500000, app_name='python-can')
 
-# Steering_Commandメッセージの作成
-message = msg.Steering_Command()
-# メッセージののパラメータの指定
-message.setDataFromInt(0, 100, 400)
-# CAN
-message.toData()
 
-#送信データ
-can_msg = can.Message(arbitration_id = message.msg_id, data= message, is_extended_id = False)
+for crc in range(256+1):
+    # Steering_Commandメッセージの作成
+    message = msg.Steering_Command(crc)
+    # メッセージののパラメータの指定
+    message.setDataFromInt(1, 240, 100)
+    # CAN
+    message.toData()
+    message.view()
+    #送信データ
+    can_msg = can.Message(arbitration_id = message.msg_id, data= message.data, is_extended_id = False)
 
-#送信
-task = bus.send_periodic(can_msg, 1)
-assert isinstance(task, can.CyclicSendTaskABC)
+    #送信
+    task = bus.send_periodic(can_msg, 0.05)
+    assert isinstance(task, can.CyclicSendTaskABC)
 
-time.sleep(10)
-task.stop()
-print("stopped cyclic send")
+    time.sleep(0.2)
+    task.stop()
+    print("stopped cyclic send")