def trigger_infrared_light_detect(): can_msg = vci_can() can_msg.ID = can_id_build() can_msg.DataLen = 2 can_msg.Data = [0x10, 0xFF] #rospy.loginfo(can_msg.Data) infrared_light_pub.publish(can_msg)
def trigger_pressure_laser_detect(): can_msg = vci_can() can_msg.ID = can_id_build() can_msg.DataLen = 2 can_msg.Data = [0x10, 0xFF] #rospy.loginfo(can_msg.Data) pressure_laser_pub.publish(can_msg)
def trigger_supersonic_detect(): can_msg = vci_can() can_msg.ID = can_id_build() can_msg.DataLen = 2 can_msg.Data = [0x10,0xFF] #rospy.loginfo(can_msg.Data) supersonic_pub.publish(can_msg)
def trigger_powerboard_m_detect(): can_msg = vci_can() can_msg.ID = 0x00260180 #can_id_build() can_msg.DataLen = 7 can_msg.Data = [0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00] rospy.loginfo(can_msg.Data) power_m_pub.publish(can_msg)
def trigger_test(): can_msg = vci_can() can_msg.ID = can_id_build()#0x012a0103 can_msg.DataLen = 4 can_msg.Data = [0x00,0x00,0x00,0x00] print 'sent:' + repr(can_msg.Data) test_pub.publish(can_msg)
def trigger_supersonic_detect(): global supersonic_id supersonic_id += 1 if supersonic_id > 8: supersonic_id = 1 can_msg = vci_can() can_msg.ID = can_id_build(supersonic_id) can_msg.DataLen = 3 can_msg.Data = [0x00, 0x10, 0xFF] #rospy.loginfo(can_msg.Data) supersonic_pub.publish(can_msg)
def get_mcu_rfid_version(): can_msg = vci_can() can_msg.ID = can_id_build(sourceID=0x01, ack=0, funcID=1) can_msg.DataLen = 1 can_msg.Data = '\x00' print 'sent:' + repr(can_msg.Data) rfid_pub.publish(can_msg) a = canMsg(can_msg) a.print_info() flag = 0 print 'total sent: %d' % g_tx_total
def trigger_test(): global g_tx_total global test_data global flag if not flag: return can_msg = vci_can() can_msg.ID = can_id_build()#0x012a0103 can_msg.DataLen = 5 can_msg.Data = '\x00' + struct.pack(">i", test_data) #can_msg.Data = [0x00,0x01,0x02,0x03,0x04,0x05] print 'sent:' + repr(can_msg.Data) test_pub.publish(can_msg) flag = 0 g_tx_total += 1 print 'total sent: %d'%g_tx_total
def trigger_test(): global g_tx_total global test_data global flag if not flag: return can_msg = vci_can() can_msg.ID = can_id_build(sourceID=0x03, ack=0x00, funcID=0x01) #0x012a0103 can_msg.DataLen = 1 #can_msg.Data = '\x00' + struct.pack(">i", test_data) can_msg.Data = [0x00] print 'sent:' + repr(can_msg.Data) rfid_pub.publish(can_msg) a = canMsg(can_msg) a.print_info() flag = 0 g_tx_total += 1 print 'total sent: %d' % g_tx_total
def get_sourceID(self): return self.sourceID def get_data_length(self): return self.data_length def get_data(self): return self.data def print_info(self): print 'can_id = 0x%08x' % self.get_can_id() print 'srcMacID = 0x%02x, dstMacID = 0x%02x, ack = 0x%01x, funcID = 0x%01x, sourceID = 0x%02x' % (self.get_srcMacID(),self.get_dstMacID(),self.get_ack(),self.get_funcID(),self.get_sourceID()) # print 'dstMacID = 0x%02x' % self.get_dstMacID() # print 'ack = 0x%01x' % self.get_ack() # print 'funcID = 0x%01x' % self.get_funcID() # print 'sourceID = 0x%02x' % self.get_sourceID() print 'data_length = %d' % self.get_data_length() # print 'data:',struct.unpack("<I", self.get_data()) print 'data:',[hex(c) for c in self.get_data()] if __name__ == '__main__': can_msg = vci_can() can_msg.ID = 0xa201281 can_msg.DataLen = 3 can_msg.Data = b'\x01\x10\xff\x91'# (0x01,0x10,0xff,0x01)# a = canMsg(can_msg) a.print_info()