def on_message_received(self, msg):
outmsg = CanMessage()
outmsg.interface = CanMessage.CANTYPE_RADAR
outmsg.id = msg.arbitration_id
outmsg.can_timestamp = msg.timestamp
outmsg.data = list(msg.data)
outmsg.is_extended = msg.is_extended_id
outmsg.is_error = msg.is_error_frame
self.on_can_message(outmsg)
def on_message_received(self, msg):
outmsg = CanMessage()
self.match_canbus_to_logical(msg)
if self.can_type:
outmsg.interface = self.can_type
else:
outmsg.interface = self.can_interface
outmsg.id = msg.arbitration_id
outmsg.can_timestamp = msg.timestamp
outmsg.data = list(msg.data)
outmsg.is_extended = msg.is_extended_id
outmsg.is_error = msg.is_error_frame
self.pub.publish(outmsg)
def power_on_radar(self):
for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
if self.frame % fr_step == 0:
tosend = bytearray()
tosend.extend(map(ord, vl))
# XXX This might be incorrect... interface might need to use the 'bus' variable
message = CanMessage(id=addr, interface=CanMessage.CANTYPE_RADAR, data=tosend)
self.can_pub.publish(message)
self.frame += 1.
def on_brake_cmd(self, msg):
if not self.enabled:
return
brake_oscc_msg = self.oscc_db.get_message_by_name("BRAKE_COMMAND")
self.can_pub.publish(CanMessage(id=brake_oscc_msg.frame_id,
interface=CanMessage.CANTYPE_CONTROL,
data=brake_oscc_msg.encode({
'brake_command_magic': OSCC_MAGIC_NUMBER,
'brake_command_pedal_request': msg.data,
'brake_command_reserved': 0
})))
def on_throttle_cmd(self, msg):
if not self.enabled:
return
throttle_oscc_msg = self.oscc_db.get_message_by_name("THROTTLE_COMMAND")
encoded_msg = throttle_oscc_msg.encode({
'throttle_command_magic': OSCC_MAGIC_NUMBER,
'throttle_command_pedal_request': msg.data,
'throttle_command_reserved' : 0
})
self.can_pub.publish(CanMessage(id=throttle_oscc_msg.frame_id,
interface=CanMessage.CANTYPE_CONTROL,
data=encoded_msg))
def on_steering_cmd(self, msg):
if not self.enabled:
return
brake_oscc_msg = self.oscc_db.get_message_by_name("STEERING_COMMAND")
self.can_pub.publish(
CanMessage(id=0x84,
interface=CanMessage.CANTYPE_CONTROL,
data=brake_oscc_msg.encode({
'steering_command_magic':
OSCC_MAGIC_NUMBER,
'steering_command_torque_request':
msg.data,
'steering_command_reserved':
0
})))
def oscc_enabled(self, enable):
msgs = None
if enable:
msgs = [
("BRAKE_ENABLE", {
'brake_enable_magic': 0xcc05,
'brake_enable_reserved': 0
}),
("THROTTLE_ENABLE", {
'throttle_enable_magic': OSCC_MAGIC_NUMBER,
'throttle_enable_reserved': 0
}),
# ("STEERING_ENABLE", {
# 'steering_enable_magic': OSCC_MAGIC_NUMBER,
# 'steering_enable_reserved': 0
# }),
]
else:
msgs = [
("BRAKE_DISABLE", {
'brake_disable_magic': OSCC_MAGIC_NUMBER,
'brake_disable_reserved': 0
}),
("THROTTLE_DISABLE", {
'throttle_disable_magic': OSCC_MAGIC_NUMBER,
'throttle_disable_reserved': 0
}),
("STEERING_DISABLE", {
'steering_disable_magic': OSCC_MAGIC_NUMBER,
'steering_disable_reserved': 0
})
]
for name, data in msgs:
msg = self.oscc_db.get_message_by_name(name)
self.can_pub.publish(CanMessage(id=msg.frame_id,
interface=CanMessage.CANTYPE_CONTROL,
data=msg.encode(data)))