def can_to_trc(converter_name,
thruster_id,
serial_port,
can_bitrate,
output=None,
verbose=False,
speed=10):
# Try and load the converter script with that name from converters module
mod_path = f'converters.{converter_name}'
lib = importlib.import_module(mod_path)
# potentials = [x for x in dir(lib) if x.startswith("Captain")]
CAN2TRCConverter = getattr(lib, "CAN2TRCConverter")
converter = CAN2TRCConverter(thruster_id)
dev = cantact.CantactDev(serial_port)
dev.set_bitrate(can_bitrate)
dev.start() # Go on the bus
# Set up how we want to process outgoing nmea sentences
if output is not None:
target_type, addr, port = output.split(':')
if target_type == 'udp': # NMEASender supports this
sender = NMEASender(addr,
int(port),
verbose=verbose,
checksum=True)
out_fn = sender.send_one
else:
raise ValueError("Invalid output string", output)
else:
out_fn = print
sleep_time = 1 / speed
try:
while True:
frame = dev.recv() # Receive a CAN frame
converter.update(frame)
nmea = converter.nmea
if nmea is not None:
out_fn(nmea)
if verbose:
print(converter)
print(frame)
print(nmea)
time.sleep(sleep_time)
except KeyboardInterrupt as e:
print("Interrupt!")
def decode(serial_port, can_ids, unpack_fmt):
""" Print a CAN message in hex and the unpacked message according to some unpack """
dev = cantact.CantactDev(serial_port)
dev.set_bitrate(500000) # Set the bitrate to a 1Mbaud
dev.start() # Go on the bus
try:
while True:
frame = dev.recv() # Receive a CAN frame
if frame.id in can_ids:
# unpacked = struct.unpack(unpack_fmt)
hex_str = pretty_hex(frame.data)
except KeyboardInterrupt as e:
print("Interrupt!")
from pyvit import can from pyvit.hw import cantact from pyvit.utils.queue import CanQueue import sys dev = cantact.CantactDev(sys.argv[1]) dev.set_bitrate(125000) cq = CanQueue(dev) cq.start() print cq.recv() req = can.Frame(0x6A5) req.data = [0x10, 0xFF, 0xFF] cq.send(req) print cq.recv(arb_id=0x625, timeout=10) cq.stop()
# from pyvit import can
# from pyvit.hw.cantact import CantactDev
from pyvit.hw import cantact
dev = cantact.CantactDev("/dev/tty.usbmodemFA131")
dev.set_bitrate(500000)
dev.start()
while True:
print(dev.recv())
print("Unable to locate a serial device")
time.sleep(3)
continue
elif devCount == 1:
print("Using device %s") % serialDev
break
elif devCount > 1:
print(
"Multiple serial devices plugged, in. Please remove any extraneous devices."
)
time.sleep(3)
continue
else:
serialDev = sys.argv[1]
print("Connecting to %s") % serialDev
dev = cantact.CantactDev(serialDev)
dev.set_bitrate(500000)
if sys.platform == "linux" or sys.platform == "linux2": # b/c SocketCAN
dev.ser.write('S6\r'.encode())
drive = False
if sys.platform == "linux" or sys.platform == "linux2":
hasDevice = hasExternalStorage()
if hasDevice:
os.chdir(hasDevice)
dev.start()
while not drive:
try:
frame = dev.recv()
except (KeyboardInterrupt, SystemExit):
print("Exiting...")
dev.stop()
from pyvit import can
from pyvit.hw import cantact
import sys
import time
dev = cantact.CantactDev("/dev/tty.usbmodem1411")
dev.start()
count = 0
while True:
count += 1
print("%d: %s" % (count, str(frame)))
def trc_to_can(converter_name,
serial_port,
can_bitrate,
source=None,
verbose=False,
thruster_id=None):
# Try and load the converter script with that name from converters module
mod_path = f'converters.{converter_name}'
lib = importlib.import_module(mod_path)
# potentials = [x for x in dir(lib) if x.startswith("Captain")]
TRC2CANConverter = getattr(lib, "TRC2CANConverter")
converter = TRC2CANConverter(thruster_id=thruster_id)
dev = cantact.CantactDev(serial_port)
dev.set_bitrate(can_bitrate)
dev.start() # Go on the bus
valid_nmea_received = 0
invalid_nmea_received = 0
def collect_metrics():
return {
"valid_nmea_received": valid_nmea_received,
"invalid_nmea_received": invalid_nmea_received,
}
# def on_nmea(nmea_list):
#
if source is None:
print(
"reading from stdin not yet supported. Try a udp string (udp:localhost:7777)"
)
return
else:
target_type, addr, port = source.split(':')
if target_type == 'udp': # NMEAReceiver supports this
nr = NMEAReceiver(UDPReceiver(int(port)))
nr.open()
#nonlocal valid_nmea_received, invalid_nmea_received
while True:
try:
print("reading...")
nmea_list = nr.read()
for nmea in nmea_list:
frames = converter.convert(nmea)
if frames:
valid_nmea_received += 1
if verbose:
print("NMEA Received : ", nmea)
print("Frames = ", [str(x) for x in frames])
for f in frames:
dev.send(f)
else:
invalid_nmea_received += 1
except KeyboardInterrupt as e:
print("done.")
sys.exit(0)
