def set_software(self, name=UPDATE_INTERVAL, value=None):
if(value == None):
Error.handle_error('radar software set value error')
return False
if name == self.UPDATE_INTERVAL:
self.update_interval = value
return True
def save_hardware_state(self):
set_save_message = CanFrame(CONFIG_MESSAGE_ID + self.radar_id * DELTA_ADDRESS, [self.SAVE << 1 | self.W_CONST, 0])
ret = self.can_device.transmit_message(self.channel_id, set_save_message)
if not ret:
Error.handle_error('radar state save error')
return False
radar_return_message_id = self.RADAR_RETURN_MESSAGE_ID + self.radar_id * DELTA_ADDRESS
ack = self.can_device.get_data_by_id(self.channel_id, radar_return_message_id)
if len(ack) == 0:
Error.handle_error('radar save ack error')
return False
ack_data = ack[-1].data
if ack_data[0] & RW_MASK != 1:
Error.handle_error('radar state save error')
return False
return True
def set_hardware(self, name=RADAR_ID, value=None):
if(value == None):
Error.handle_error('radar hardware set value error')
return False
#radar hardware related
dataType_and_RW = name << 1 | self.W_CONST
ret = 0
config_message_id = self.CONFIG_MESSAGE_ID + self.radar_id * DELTA_ADDRESS
if name == self.RADAR_ID:
#radar_id: [dataType:0b1 + R/W:0/1, Value: radar_id]
set_radar_id_message = CanFrame(config_message_id, [dataType_and_RW, value])
if not value in range(MAX_DEVICES_IN_CHANNEL):
Error.handle_error('radar set radar id value error')
return False
ret = self.can_device.transmit_message(self.channel_id, set_radar_id_message)
elif name == self.OUTPUT_MODE:
#output mode: [dataType:0b11 + R/W:0/1, PointOutput: stop:0 / start:1, ClusterOutput: stop:0 / start:1, TraceOutput: stop:0 / start:1, IIRFilterOutput: stop:0 / start:1, Reserve:0]
set_output_mode_message = CanFrame(config_message_id, [dataType_and_RW, 0, 0, 0, 0, 0])
output_mode = value
if output_mode == self.POINT_MODE:
set_output_mode_message.data[1] = 1
elif output_mode == self.CLUSTER_MODE:
set_output_mode_message.data[2] = 1
elif output_mode == self.TRACE_MODE:
set_output_mode_message.data[3] = 1
elif output_mode == self.IIRFILTER_MODE:
set_output_mode_message.data[4] = 1
else:
Error.handle_error('radar set output mode value error')
return False
ret = self.can_device.transmit_message(self.channel_id, set_output_mode_message)
elif name == self.OUTPUT_SWITCH:
#output switch: [dataType:0b100 + R/W:0/1, Value: stop:0 / start:1]
if value != self.STOP and value != self.START:
Error.handle_error('radar set output switch value error')
return False
set_output_switch_message = CanFrame(config_message_id, [dataType_and_RW, value])
ret = self.can_device.transmit_message(self.channel_id, set_output_switch_message)
elif name == self.DETECTION_MODE:
#detection mode: [dataType:0b101 + R/W:0/1, Radar_Mode: short:1 / middle:2]
if value != self.SHORT_MODE and value != self.MIDDLE_MODE:
Error.handle_error('radar set detection mode value error')
return False
set_detection_mode_message = CanFrame(config_message_id, [dataType_and_RW, value])
ret = self.can_device.transmit_message(self.channel_id, set_detection_mode_message)
elif name == self.CAN_CONFIG:
#can config: [dataType:0b111 + R/W:0/1, Baud: 250k:1 / 500k:2 / 1000k:3, Y/N:0/1, FrameType: standard:1, extend:2, Y/N:0/1]
baud = value[self.CAN_BAUD_CONFIG]
frame_type = value[self.CAN_FRAME_CONFIG]
if baud != self.BAUD_250K and baud != self.BAUD_500K and baud != self.BAUD_1000K:
Error.handle_error('radar set can config value error')
return False
if frame_type != self.STANDARD_FRAME and frame_type != self.EXTEND_FRAME:
Error.handle_error('radar set can config value error')
return False
set_can_config_message = CanFrame(config_message_id, [dataType_and_RW, baud, 1, frame_type, 1])
ret = self.can_device.transmit_message(self.channel_id, set_can_config_message)
else:
Error.handle_error('radar set name error')
return False
if not ret:
Error.handle_error('radar hardware set error')
return False
time.sleep(0.5) #wait ack
radar_return_message_id = self.RADAR_RETURN_MESSAGE_ID + self.radar_id * DELTA_ADDRESS
ack = self.can_device.get_data_by_id(self.channel_id, radar_return_message_id)
if len(ack) == 0:
Error.handle_error('radar hardware set ack error')
return False
#type of ack is list canFrame
#the length of ack should be 1, if not, choose the last(also leatest) one
ack_data = ack[-1].data
#ack_data: [dataType:0b110 + success:0/1, radar_id, detection_mode, output switch, point:0/1 + cluster:0/1 + trace:0/1 + iirFilter:0/1 + reserved, can_baud: + can_type]
if ack_data[0] & RW_MASK == 1:
if name == self.RADAR_ID:
self.radar_id = value
elif name == self.OUTPUT_MODE:
self.output_mode = value
elif name == self.OUTPUT_SWITCH:
self.output_switch = value
elif name == self.DETECTION_MODE:
self.detection_mode = value
elif name == self.CAN_CONFIG:
self.can_baud = value[self.CAN_BAUD_CONFIG]
self.frame_type = value[self.CAN_FRAME_CONFIG]
else:#never come here
return False
else:
Error.handle_error('radar hardware set error')
return False
return True