def test_honda_checksum(self):
"""Test checksums for Honda standard and extended CAN ids"""
dbc_file = "honda_accord_2018_can_generated"
signals = [
("CHECKSUM", "LKAS_HUD"),
("CHECKSUM", "LKAS_HUD_A"),
]
checks = [("LKAS_HUD", 0), ("LKAS_HUD_A", 0)]
parser = CANParser(dbc_file, signals, checks, 0)
packer = CANPacker(dbc_file)
values = {
'SET_ME_X41': 0x41,
'STEERING_REQUIRED': 1,
'SOLID_LANES': 1,
'BEEP': 0,
}
# known correct checksums according to the above values
checksum_std = [11, 10, 9, 8]
checksum_ext = [4, 3, 2, 1]
for std, ext in zip(checksum_std, checksum_ext):
msgs = [
packer.make_can_msg("LKAS_HUD", 0, values),
packer.make_can_msg("LKAS_HUD_A", 0, values),
]
can_strings = [can_list_to_can_capnp(msgs), ]
parser.update_strings(can_strings)
self.assertEqual(parser.vl['LKAS_HUD']['CHECKSUM'], std)
self.assertEqual(parser.vl['LKAS_HUD_A']['CHECKSUM'], ext)
def test_updated(self):
"""Test updated value dict"""
dbc_file = "honda_civic_touring_2016_can_generated"
signals = [("USER_BRAKE", "VSA_STATUS")]
checks = [("VSA_STATUS", 50)]
parser = CANParser(dbc_file, signals, checks, 0)
packer = CANPacker(dbc_file)
# Make sure nothing is updated
self.assertEqual(len(parser.vl_all["VSA_STATUS"]["USER_BRAKE"]), 0)
idx = 0
for _ in range(10):
# Ensure CANParser holds the values of any duplicate messages over multiple frames
user_brake_vals = [
random.randrange(100) for _ in range(random.randrange(5, 10))
]
half_idx = len(user_brake_vals) // 2
can_msgs = [[], []]
for frame, brake_vals in enumerate(
(user_brake_vals[:half_idx], user_brake_vals[half_idx:])):
for user_brake in brake_vals:
values = {"USER_BRAKE": user_brake}
can_msgs[frame].append(
packer.make_can_msg("VSA_STATUS", 0, values))
idx += 1
can_strings = [can_list_to_can_capnp(msgs) for msgs in can_msgs]
parser.update_strings(can_strings)
vl_all = parser.vl_all["VSA_STATUS"]["USER_BRAKE"]
self.assertEqual(vl_all, user_brake_vals)
if len(user_brake_vals):
self.assertEqual(vl_all[-1],
parser.vl["VSA_STATUS"]["USER_BRAKE"])
def can_sync_thread():
can_sock = messaging.sub_sock('can', conflate=True, timeout=100)
can_pub = None
os.environ["ZMQ"] = "1"
pub_context = messaging_pyx.Context()
can_pub = messaging_pyx.PubSocket()
can_pub.connect(pub_context, 'testJoystick')
del os.environ["ZMQ"]
rk = Ratekeeper(100.0, print_delay_threshold=None)
cc_main = 0
cc_status = 0
speed = 0.0
dbc_file = "toyota_yaris"
signals = [
# sig_name, sig_address, default
("GEAR", "GEAR_PACKET", 0),
("BRAKE_PRESSED", "BRAKE_MODULE2", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 0),
("DOOR_OPEN_FL", "SEATS_DOORS", 0),
("DOOR_OPEN_FR", "SEATS_DOORS", 0),
("DOOR_OPEN_RL", "SEATS_DOORS", 0),
("DOOR_OPEN_RR", "SEATS_DOORS", 0),
("MAIN_ON", "PCM_CRUISE_SM", 0),
("CRUISE_CONTROL_STATE", "PCM_CRUISE_SM", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 0), # 3 is no blinkers
("ENGINE_RPM", "POWERTRAIN", 0),
("SPEED", "SPEED", 0),
("MAY_CONTAIN_LIGHTS", "BOOLS", 0),
("CHANGES_EACH_RIDE", "SLOW_VARIABLE_INFOS", 0),
("INCREASING_VALUE_FUEL", "SLOW_VARIABLE_INFOS", 0)
]
checks = []
parser = CANParser(dbc_file, signals, checks, 0)
play_time = 0
while True:
try:
can_strs = messaging.drain_sock_raw(can_sock, wait_for_one=True)
parser.update_strings(can_strs)
# print (parser.vl)
cc_main = parser.vl['PCM_CRUISE_SM']['MAIN_ON']
cc_status = parser.vl['PCM_CRUISE_SM']['CRUISE_CONTROL_STATE']
speed = parser.vl['SPEED']['SPEED']
doorOpen = any([
parser.vl["SEATS_DOORS"]['DOOR_OPEN_FL'],
parser.vl["SEATS_DOORS"]['DOOR_OPEN_FR'],
parser.vl["SEATS_DOORS"]['DOOR_OPEN_RL'],
parser.vl["SEATS_DOORS"]['DOOR_OPEN_RR']
])
seatbeltUnlatched = parser.vl["SEATS_DOORS"][
'SEATBELT_DRIVER_UNLATCHED'] != 0
light = parser.vl["BOOLS"]["MAY_CONTAIN_LIGHTS"]
a = parser.vl["SLOW_VARIABLE_INFOS"]["CHANGES_EACH_RIDE"]
b = parser.vl["SLOW_VARIABLE_INFOS"]["INCREASING_VALUE_FUEL"]
if doorOpen:
play_time = play_sound(SOUND_PATH + 'door_open.wav', play_time,
3)
if seatbeltUnlatched:
play_time = play_sound(SOUND_PATH + 'seatbelt.wav', play_time,
3)
if light != 0:
play_time = play_sound(SOUND_PATH + 'turn_signal.wav',
play_time, 3)
cc_main_v = 0
if cc_main:
cc_main_v = 1
can_dict = {
'cc_main': cc_main_v,
'cc_status': cc_status,
'speed': speed,
'light': light,
'a': a,
'b': b
}
json_str = json.dumps(can_dict)
json_str = json_str.replace('\'', '"')
can_pub.send(json_str)
except messaging_pyx.MessagingError:
print('MessagingError error happens')
rk.keep_time()