def __init__(self,
ch=None,
flags=0,
canlibHnd=None,
ean=None,
serial=None,
cardChannel=0):
if canlibHnd is None:
self.canlib = canlib.canlib()
else:
self.canlib = canlibHnd
self._cardChannel = cardChannel
if ean is not None:
ch = self._findChannel(ean, serial, cardChannel)
if ch is not None:
self.channel = self.canlib.openChannel(ch, flags)
self._loadInfo()
self.close()
else:
self.channel = None
self._loadInfo()
self._ean = ean
self._serial = serial
self._channel = ch
self.memo = None
def readConfig():
import os
import canlib
cl = canlib.canlib()
# We already knew that our device was connected to CANlib channel number 0
canlibChannel = 0
# Open the device
ch = cl.openChannel(channel=canlibChannel)
# List files on device
numFiles = ch.fileGetCount()
if numFiles:
for i in range(numFiles):
name = ch.fileGetName(i)
# Skip known system files
if (os.path.splitext(name)[1].lower() == '.kmf'
or name.lower() == 'param.lif'
or name.lower() == 'database.bin'):
print "Skipping %s" % name
else:
# Copy user files to PC
print "Copying %s" % name
ch.fileCopyFromDevice(name, name)
ch.close()
def readRawFromCAN(ch, debug, visual=False):
c1 = canlib.canlib()
radar = RadarDataParser(debug)
channels = c1.getNumberOfChannels()
if ch >= channels:
print("Invalid channel number")
sys.exit()
try:
ch1 = c1.openChannel(ch, canlib.canOPEN_ACCEPT_VIRTUAL)
print("Using channel: %s, EAN: %s" %
(ch1.getChannelData_Name(), ch1.getChannelData_EAN()))
ch1.setBusOutputControl(canlib.canDRIVER_NORMAL)
ch1.setBusParams(canlib.canBITRATE_500K, 4, 3, 1, 1, 0)
ch1.busOn()
except (canlib.canError) as ex:
print(ex)
# Initialize the Radar - send out a RADIATE command (xBF or 191)
message = [0, 0, 0, 0, 0, 0, 191, 0]
ch1.write(1256, message, 8)
rospy.init_node('esr_node', anonymous=True)
pub = rospy.Publisher('esr_front', kvaser.msg.CANESR, queue_size=10)
if visual:
visualizer = RadarVisualizer()
r = rospy.Rate(10)
r.sleep()
# pub.publish(s)
r.sleep()
while not rospy.is_shutdown():
try:
msgId, msg, dlc, flg, time = ch1.read()
#
# raw can format:
# msgId: 1899
# msg: [2, 0, 0, 0, 0, 0, 0, 0]
# dlc (msg len): 8
# flg: 0
# time: 1219812
#
radarData = radar.parseMessage(msgId, msg, dlc, flg, time)
if len(trackdata) > 0:
#KFC rossend(std.msg.String(data=json.dumps(radarData)))
pub.publish(json.dumps(radarData))
if visual:
visualizer.update(radarData)
except (canlib.canNoMsg) as ex:
pass
except (canlib.canError) as ex:
print(ex)
rospy.spin()
def print_header():
""" Print out a fancy little header with some status info. """
cl = canlib.canlib();
channels = cl.getNumberOfChannels()
logging.info("/-------------------------------------------------\\")
logging.info("| Booting DSRC+Radar Collision Avoidance")
logging.info("| Canlib running version %s with %s channels" % (cl.getVersion(), channels))
logging.info("\-------------------------------------------------/\n")
def print_header():
""" Print out a fancy little header with some status info. """
cl = canlib.canlib()
channels = cl.getNumberOfChannels()
logging.info("/-------------------------------------------------\\")
logging.info("| Booting DSRC+Radar Collision Avoidance")
logging.info("| Canlib running version %s with %s channels" %
(cl.getVersion(), channels))
logging.info("\-------------------------------------------------/\n")
def __init__(self, filename):
""" Initialize the data parser, connect to the can bus. """
Process.__init__(self)
self.data = {}
self.power_tracks = {}
self.file = open('filename','w')
self.startTime = None
cl = canlib.canlib()
self.ch1 = cl.openChannel(0, canlib.canOPEN_ACCEPT_VIRTUAL)
def setUpChannel(channel=0,
openFlags=canlib.canOPEN_ACCEPT_VIRTUAL,
bitrate=canlib.canBITRATE_500K,
bitrateFlags=canlib.canDRIVER_NORMAL):
cl = canlib.canlib()
ch = cl.openChannel(channel, openFlags)
print("Using channel: %s, EAN: %s" %
(ch.getChannelData_Name(), ch.getChannelData_EAN()))
ch.setBusOutputControl(bitrateFlags)
ch.setBusParams(bitrate)
ch.busOn()
return ch
def run(self):
cl = canlib.canlib()
channels = cl.getNumberOfChannels()
ch = 0
# Hard-coded, might need to change!
if ch >= channels:
print("Invalid channel number")
sys.exit()
try:
ch1 = cl.openChannel(ch, canlib.canOPEN_ACCEPT_VIRTUAL)
print("Using channel: %s, EAN: %s" %
(ch1.getChannelData_Name(), ch1.getChannelData_EAN()))
ch1.setBusOutputControl(canlib.canDRIVER_NORMAL)
ch1.setBusParams(canlib.canBITRATE_500K)
ch1.busOn()
except (canlib.canError) as ex:
print(ex)
# Initialize the Radar
message = [0, 0, 0, 0, 0, 0, 191, 0]
ch1.write(1265, message, 8)
msg_counter = 0 # Variable that keeps track of the iteration of msg 1344 we are on
while True:
ss = time.time() # - self.startTime
try:
msgId, msg, dlc, flg, msgtime = ch1.read()
if msgId >= 1280 and msgId <= 1343:
self.track_msg(msgId, msg)
elif (msgId == 1344):
self.track_status_msg(msg_counter, msg)
msg_counter += 1
elif (msgId > 1344 and msg_counter > 0):
msg_counter = 0
elif (msgId == 1512):
sdat = [(ss, k, v[0], v[1], v[2], v[3],
self.power_tracks[k])
for k, v in self.data.iteritems()
if self.power_tracks[k] > 0]
self.queue.put(sdat)
self.data = {} # Start with a fresh object
self.power_tracks = {}
except (canlib.canNoMsg) as ex:
pass
except (canlib.canError) as ex:
print(ex)
def allDevices():
devices = []
cl = canlib.canlib()
indx = -1
cl.reinitializeLibrary()
for ch in range(cl.getNumberOfChannels()):
try:
dev = kvDevice(ch=ch)
except canlib.canError as e:
if e.canERR == canlib.canERR_NOTFOUND:
return devices
else:
raise e
if indx == -1 or dev != devices[indx]:
devices.append(dev)
indx += 1
return devices
def allDevices():
devices = []
cl = canlib.canlib()
indx = -1
cl.reinitializeLibrary()
for ch in range(cl.getNumberOfChannels()):
try:
dev = kvDevice(ch=ch)
except canlib.canError as e:
if e.canERR == canlib.canERR_NOTFOUND:
return devices
else:
raise e
if indx == -1 or dev != devices[indx]:
devices.append(dev)
indx += 1
return devices
def __init__(self, ch=None, flags=0, canlibHnd=None, ean=None,
serial=None, cardChannel=0):
if canlibHnd is None:
self.canlib = canlib.canlib()
else:
self.canlib = canlibHnd
self._cardChannel = cardChannel
if ean is not None:
ch = self._findChannel(ean, serial, cardChannel)
if ch is not None:
self.channel = self.canlib.openChannel(ch, flags)
self._loadInfo()
self.close()
else:
self.channel = None
self._loadInfo()
self._ean = ean
self._serial = serial
self._channel = ch
self.memo = None
self.document = minidom.parseString(conf_xml)
def parseXml(self, conf_xml):
self.document = minidom.parseString(conf_xml)
def toXml(self):
return self.document.toxml()
def toLif(self):
xl = kvaMemoLibXml.kvaMemoLibXml()
conf_lif = xl.kvaXmlToBuffer(self.document.toxml())
return conf_lif
if __name__ == '__main__':
cl = canlib.canlib()
rate = cl.translateBaud(freq=canlib.canBITRATE_1M)
print(rate)
print("- Manually creating configuration -----------------")
memoConfig = kvMemoConfig(afterburner=10000)
memoConfig.addBusparams(channel=0, rateParam=rate)
memoConfig.addBusparams(channel=1, rateParam=rate)
trigger = kvTrigger(logmode=TRIG_ON_EVENT, fifomode=False)
trigVarTimer = kvTrigVarTimer(idx=0, offset=10)
trigger.addTrigVarTimer(trigVarTimer)
trigVarTimer = kvTrigVarTimer(idx=1, offset=20)
trigger.addTrigVarTimer(trigVarTimer)
trigStatement = kvTrigStatement(postFixExpr=0, function=ACTION_START_LOG,
param=1)
import canopenpy as cnp
import canlib
import time
try:
ch = canlib.canlib().openChannel(0,canlib.canOPEN_EXCLUSIVE)
ch.open(bitrate=500000)
canopen = cnp.CanOpen(ch)
canopen.setNodeId(1)
except canlib.canError as err:
print(err)
print(ch.getBusParams())
def getValue(cmd):
try:
res = canopen.SetOsIntCmd(cmd)
if res[-1]==';':
res=res[:-1]
except Exception as ex:
res = None
print('getValue:',ex)
return res
def sendCommand(cmd):
try:
res = canopen.SetOsIntCmd(cmd)
except :
print('SendCommand',res)
def console():
def run(self):
""" Start reading data from the CAN Bus and sending full objects to the dispatcher. """
configure_logs(getattr(logging, self.log_level, None))
# self.logger = logging.getLogger('debug_radar')
# These are logging properly on Bryce's machinekk:w
# self.logger.info( "welcome to the debug_radar logger!")
# logging.getLogger('radar').info("this is a dummy message")
msgToFunc = {
1248: self.status_one,
1249: self.status_two,
1250: self.status_three,
1251: self.status_four,
1280: self.track_msg,
1281: self.track_msg,
1282: self.track_msg,
1283: self.track_msg,
1284: self.track_msg,
1285: self.track_msg,
1286: self.track_msg,
1287: self.track_msg,
1288: self.track_msg,
1289: self.track_msg,
1290: self.track_msg,
1291: self.track_msg,
1292: self.track_msg,
1293: self.track_msg,
1294: self.track_msg,
1295: self.track_msg,
1296: self.track_msg,
1297: self.track_msg,
1298: self.track_msg,
1299: self.track_msg,
1300: self.track_msg,
1301: self.track_msg,
1302: self.track_msg,
1303: self.track_msg,
1304: self.track_msg,
1305: self.track_msg,
1306: self.track_msg,
1307: self.track_msg,
1308: self.track_msg,
1309: self.track_msg,
1310: self.track_msg,
1311: self.track_msg,
1312: self.track_msg,
1313: self.track_msg,
1314: self.track_msg,
1315: self.track_msg,
1316: self.track_msg,
1317: self.track_msg,
1318: self.track_msg,
1319: self.track_msg,
1320: self.track_msg,
1321: self.track_msg,
1322: self.track_msg,
1323: self.track_msg,
1324: self.track_msg,
1325: self.track_msg,
1326: self.track_msg,
1327: self.track_msg,
1328: self.track_msg,
1329: self.track_msg,
1330: self.track_msg,
1331: self.track_msg,
1332: self.track_msg,
1333: self.track_msg,
1334: self.track_msg,
1335: self.track_msg,
1336: self.track_msg,
1337: self.track_msg,
1338: self.track_msg,
1339: self.track_msg,
1340: self.track_msg,
1341: self.track_msg,
1342: self.track_msg,
1343: self.track_msg,
1344: self.track_status_msg,
1488: self.validation_msg_one,
1489: self.validation_msg_two,
1508: self.additional_status_one,
1509: self.additional_status_two,
1510: self.additional_status_three,
1511: self.additional_status_four,
1512: self.additional_status_five,
}
cl = canlib.canlib()
channels = cl.getNumberOfChannels()
ch = 0
# Hard-coded, might need to change!
if ch >= channels:
print("Invalid channel number")
sys.exit()
try:
ch1 = cl.openChannel(ch, canlib.canOPEN_ACCEPT_VIRTUAL)
print("Using channel: %s, EAN: %s" %
(ch1.getChannelData_Name(), ch1.getChannelData_EAN()))
ch1.setBusOutputControl(canlib.canDRIVER_NORMAL)
ch1.setBusParams(canlib.canBITRATE_500K)
ch1.busOn()
except (canlib.canError) as ex:
print(ex)
# Initialize the Radar
message = [0, 0, 0, 0, 0, 0, 191, 0]
ch1.write(1265, message, 8)
msg_counter = 0 # Variable that keeps track of the iteration of msg 1344 we are on
while True:
try:
msgId, msg, dlc, flg, time = ch1.read()
# self.logger.debug("In radar_data_parser and this is a message")
# self.logger.debug("msgId: %9d time: %9d flg: 0x%02x dlc: %d " % (msgId, time, flg, dlc))
print_var = ''.join('{:02x}'.format(x) for x in msg)
# self.logger.debug((msg,print_var))
if msgId in msgToFunc:
# This message is valid, so we need to parse it
if msgId >= 1280 and msgId <= 1343:
msgToFunc[msgId](msgId, msg)
else:
# self.logger.debug("In radar_data_parser and this is msgId %d", msgId)
if (msgId == 1344):
msgToFunc[msgId](msg_counter, msg)
msg_counter += 1
elif (msgId > 1344 and msg_counter > 0):
msgToFunc[msgId](msg)
msg_counter = 0
else:
msgToFunc[msgId](msg)
if (msgId == 1512):
# self.callback(copy.deepcopy(self.data))
self.callback(self.data)
#if self.log:
# sends JSON data to radar log file
#logging.getLogger('radar').info(json.dumps(self.data))
self.data = {} # Start with a fresh object
except (canlib.canNoMsg) as ex:
pass
except (canlib.canError) as ex:
print(ex)
description='Udacity SDC Micro Challenge Radar viewer')
parser.add_argument(
'--channel',
type=int,
default=0,
help='CANbus channel where target ESR radar is located')
parser.add_argument('--debug',
action='store_true',
default=False,
help='display debug messages')
args = parser.parse_args()
ch = args.channel
debug = args.debug
c1 = canlib.canlib()
radar = RadarDataParser(debug)
channels = c1.getNumberOfChannels()
if ch >= channels:
print("Invalid channel number")
sys.exit()
try:
ch1 = c1.openChannel(ch, canlib.canOPEN_ACCEPT_VIRTUAL)
print("Using channel: %s, EAN: %s" %
(ch1.getChannelData_Name(), ch1.getChannelData_EAN()))
ch1.setBusOutputControl(canlib.canDRIVER_NORMAL)
ch1.setBusParams(canlib.canBITRATE_500K, 4, 3, 1, 1, 0)
ch1.busOn()
except (canlib.canError) as ex:
def run(self):
""" Start reading data from the CAN Bus and sending full objects to the dispatcher. """
configure_logs(getattr(logging, self.log_level, None))
self.logger = logging.getLogger('debug_radar')
# These are logging properly on Bryce's machinekk:w
# self.logger.info( "welcome to the debug_radar logger!")
# logging.getLogger('radar').info("this is a dummy message")
msgToFunc = {
1248: self.status_one,
1249: self.status_two,
1250: self.status_three,
1251: self.status_four,
1280: self.track_msg,
1281: self.track_msg,
1282: self.track_msg,
1283: self.track_msg,
1284: self.track_msg,
1285: self.track_msg,
1286: self.track_msg,
1287: self.track_msg,
1288: self.track_msg,
1289: self.track_msg,
1290: self.track_msg,
1291: self.track_msg,
1292: self.track_msg,
1293: self.track_msg,
1294: self.track_msg,
1295: self.track_msg,
1296: self.track_msg,
1297: self.track_msg,
1298: self.track_msg,
1299: self.track_msg,
1300: self.track_msg,
1301: self.track_msg,
1302: self.track_msg,
1303: self.track_msg,
1304: self.track_msg,
1305: self.track_msg,
1306: self.track_msg,
1307: self.track_msg,
1308: self.track_msg,
1309: self.track_msg,
1310: self.track_msg,
1311: self.track_msg,
1312: self.track_msg,
1313: self.track_msg,
1314: self.track_msg,
1315: self.track_msg,
1316: self.track_msg,
1317: self.track_msg,
1318: self.track_msg,
1319: self.track_msg,
1320: self.track_msg,
1321: self.track_msg,
1322: self.track_msg,
1323: self.track_msg,
1324: self.track_msg,
1325: self.track_msg,
1326: self.track_msg,
1327: self.track_msg,
1328: self.track_msg,
1329: self.track_msg,
1330: self.track_msg,
1331: self.track_msg,
1332: self.track_msg,
1333: self.track_msg,
1334: self.track_msg,
1335: self.track_msg,
1336: self.track_msg,
1337: self.track_msg,
1338: self.track_msg,
1339: self.track_msg,
1340: self.track_msg,
1341: self.track_msg,
1342: self.track_msg,
1343: self.track_msg,
1344: self.track_status_msg,
1488: self.validation_msg_one,
1489: self.validation_msg_two,
1508: self.additional_status_one,
1509: self.additional_status_two,
1510: self.additional_status_three,
1511: self.additional_status_four,
1512: self.additional_status_five,
}
cl = canlib.canlib()
channels = cl.getNumberOfChannels()
ch = 0; # Hard-coded, might need to change!
if ch >= channels:
print("Invalid channel number")
sys.exit()
try:
ch1 = cl.openChannel(ch, canlib.canOPEN_ACCEPT_VIRTUAL)
print("Using channel: %s, EAN: %s" % (ch1.getChannelData_Name(),
ch1.getChannelData_EAN()))
ch1.setBusOutputControl(canlib.canDRIVER_NORMAL)
ch1.setBusParams(canlib.canBITRATE_500K)
ch1.busOn()
except (canlib.canError) as ex:
print(ex)
# Initialize the Radar
message = [0,0,0,0,0,0,191,0]
ch1.write(1265,message,8)
msg_counter = 0 # Variable that keeps track of the iteration of msg 1344 we are on
while True:
try:
msgId, msg, dlc, flg, time = ch1.read()
# self.logger.debug("In radar_data_parser and this is a message")
# self.logger.debug("msgId: %9d time: %9d flg: 0x%02x dlc: %d " % (msgId, time, flg, dlc))
print_var = ''.join('{:02x}'.format(x) for x in msg)
# self.logger.debug((msg,print_var))
if msgId in msgToFunc:
# This message is valid, so we need to parse it
if msgId >= 1280 and msgId <= 1343:
msgToFunc[msgId](msgId, msg)
else:
# self.logger.debug("In radar_data_parser and this is msgId %d", msgId)
if (msgId == 1344):
msgToFunc[msgId](msg_counter, msg)
msg_counter += 1
elif (msgId > 1344 and msg_counter > 0):
msgToFunc[msgId](msg)
msg_counter = 0
else:
msgToFunc[msgId](msg)
if (msgId == 1512):
# self.callback(copy.deepcopy(self.data))
self.callback(self.data)
if self.log:
# sends JSON data to radar log file
logging.getLogger('radar').info(json.dumps(self.data))
self.data = {} # Start with a fresh object
except (canlib.canNoMsg) as ex:
pass
except (canlib.canError) as ex:
print(ex)
import canlib
import logging
import logging.config
import sys
debug = True
if __name__ == '__main__':
if debug is True:
logging.config.fileConfig('logger.ini')
logger = logging.getLogger()
cl = canlib.canlib()
channels = cl.getNumberOfChannels()
dbg_str = "canlib version: %s" % cl.getVersion()
logging.debug(dbg_str)
logging.info("you should see the version number in logs/canlib_all.log!")
logging.debug("this should not print to command line")
logging.info("this should print to command line")
logging.warning("this is a test warning")
logging.error("this is a test error")
def __init__(self):
self.canLib = canlib.canlib()
self.reader_period = 0.01 #seconds
self.old_read_msg = ''
self.read_msg_list = []
