def trigger_infrared_light_detect():
can_msg = vci_can()
can_msg.ID = can_id_build()
can_msg.DataLen = 2
can_msg.Data = [0x10, 0xFF]
#rospy.loginfo(can_msg.Data)
infrared_light_pub.publish(can_msg)
def trigger_pressure_laser_detect():
can_msg = vci_can()
can_msg.ID = can_id_build()
can_msg.DataLen = 2
can_msg.Data = [0x10, 0xFF]
#rospy.loginfo(can_msg.Data)
pressure_laser_pub.publish(can_msg)
def trigger_supersonic_detect():
can_msg = vci_can()
can_msg.ID = can_id_build()
can_msg.DataLen = 2
can_msg.Data = [0x10,0xFF]
#rospy.loginfo(can_msg.Data)
supersonic_pub.publish(can_msg)
def trigger_powerboard_m_detect():
can_msg = vci_can()
can_msg.ID = 0x00260180 #can_id_build()
can_msg.DataLen = 7
can_msg.Data = [0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]
rospy.loginfo(can_msg.Data)
power_m_pub.publish(can_msg)
def trigger_test():
can_msg = vci_can()
can_msg.ID = can_id_build()#0x012a0103
can_msg.DataLen = 4
can_msg.Data = [0x00,0x00,0x00,0x00]
print 'sent:' + repr(can_msg.Data)
test_pub.publish(can_msg)
def trigger_supersonic_detect():
global supersonic_id
supersonic_id += 1
if supersonic_id > 8:
supersonic_id = 1
can_msg = vci_can()
can_msg.ID = can_id_build(supersonic_id)
can_msg.DataLen = 3
can_msg.Data = [0x00, 0x10, 0xFF]
#rospy.loginfo(can_msg.Data)
supersonic_pub.publish(can_msg)
def get_mcu_rfid_version():
can_msg = vci_can()
can_msg.ID = can_id_build(sourceID=0x01, ack=0, funcID=1)
can_msg.DataLen = 1
can_msg.Data = '\x00'
print 'sent:' + repr(can_msg.Data)
rfid_pub.publish(can_msg)
a = canMsg(can_msg)
a.print_info()
flag = 0
print 'total sent: %d' % g_tx_total
def trigger_test():
global g_tx_total
global test_data
global flag
if not flag:
return
can_msg = vci_can()
can_msg.ID = can_id_build()#0x012a0103
can_msg.DataLen = 5
can_msg.Data = '\x00' + struct.pack(">i", test_data)
#can_msg.Data = [0x00,0x01,0x02,0x03,0x04,0x05]
print 'sent:' + repr(can_msg.Data)
test_pub.publish(can_msg)
flag = 0
g_tx_total += 1
print 'total sent: %d'%g_tx_total
def trigger_test():
global g_tx_total
global test_data
global flag
if not flag:
return
can_msg = vci_can()
can_msg.ID = can_id_build(sourceID=0x03, ack=0x00,
funcID=0x01) #0x012a0103
can_msg.DataLen = 1
#can_msg.Data = '\x00' + struct.pack(">i", test_data)
can_msg.Data = [0x00]
print 'sent:' + repr(can_msg.Data)
rfid_pub.publish(can_msg)
a = canMsg(can_msg)
a.print_info()
flag = 0
g_tx_total += 1
print 'total sent: %d' % g_tx_total
def get_sourceID(self):
return self.sourceID
def get_data_length(self):
return self.data_length
def get_data(self):
return self.data
def print_info(self):
print 'can_id = 0x%08x' % self.get_can_id()
print 'srcMacID = 0x%02x, dstMacID = 0x%02x, ack = 0x%01x, funcID = 0x%01x, sourceID = 0x%02x' % (self.get_srcMacID(),self.get_dstMacID(),self.get_ack(),self.get_funcID(),self.get_sourceID())
# print 'dstMacID = 0x%02x' % self.get_dstMacID()
# print 'ack = 0x%01x' % self.get_ack()
# print 'funcID = 0x%01x' % self.get_funcID()
# print 'sourceID = 0x%02x' % self.get_sourceID()
print 'data_length = %d' % self.get_data_length()
# print 'data:',struct.unpack("<I", self.get_data())
print 'data:',[hex(c) for c in self.get_data()]
if __name__ == '__main__':
can_msg = vci_can()
can_msg.ID = 0xa201281
can_msg.DataLen = 3
can_msg.Data = b'\x01\x10\xff\x91'# (0x01,0x10,0xff,0x01)#
a = canMsg(can_msg)
a.print_info()
