def __init__(self):
print("Loading CAN DBC file...")
self.can_msg_parser = load_dbc_file(
'honda_civic_touring_2016_can_for_cantools.dbc')
print("Connecting to Panda board...")
self.panda = Panda()
print("Ready.")
def __init__(self):
rp = RosPack()
pkgpath = rp.get_path('panda_bridge_ros')
pkgpath += '/config/honda_civic_touring_2016_can_for_cantools.dbc'
self.parser = load_dbc_file(pkgpath)
self.p = Panda()
self.p.set_safety_mode(self.p.SAFETY_ALLOUTPUT)
self.gas_val = 0
self.brake_val = 0
self.steer_val = 0
self.cruise_modifier = 0.0
self.sub_engine = rospy.Subscriber('/joy',
Joy,
self.engine_cb,
queue_size=1)
self.sub_steer = rospy.Subscriber('/steering_amount',
Int16,
self.steer_cb,
queue_size=1)
self.sub_brake = rospy.Subscriber('/braking_amount',
Int16,
self.brake_cb,
queue_size=1)
self.ddr = DDynamicReconfigure("drive_car")
self.ddr.add_variable(
"rate_buttons",
"rate as to which send the button presses for cruise control", 1,
1, 100)
self.add_variables_to_self()
self.ddr.start(self.dyn_rec_callback)
def __init__(self, dbc=False):
panda_list = Panda.list()
# choose panda serial prot
if len(panda_list) > 1:
for i, s in enumerate(panda_list, 1):
print('{}) {}'.format(i, s))
serial = panda_list[input('Please input 1, 2,.... or 10 number: ')
- 1]
else:
serial = panda_list[0]
# Connect to panda
if serial in panda_list:
self.panda = Panda(serial)
self.panda.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
self.panda.can_clear(0)
self.frame = 0
print('Connect Panda [Send]')
else:
print('Not Panda connect')
exit()
# add dbc decoder
if dbc:
self.can_msg_parser = load_dbc_file(dbc)
print(self.can_msg_parser.messages)
self.upload_data = OrderedDict(
(('wheel_angle', 0), ('SPEED', 0), ('gear_1', 35), ('gear_2', 96),
('brake_LI', 0), ('brake_H', 0), ('handcrat', 0),
('LIGHT_SMALL', 0), ('LIGHT_BIG', 0), ('LIGHT_FLASH',
0), ('door_lock', 128)))
def __init__(self):
self.can_msg_parser = load_dbc_file(
'honda_civic_touring_2016_can_for_cantools.dbc')
self.pub = rospy.Publisher('can_frame_msgs_human_friendly',
String,
queue_size=10)
self.pub = rospy.Publisher('can_frame_msgs_human_friendly',
String,
queue_size=10)
self.frame_sub = rospy.Subscriber('can_frame_msgs',
Frame,
self._cb,
queue_size=10)
def __init__(self):
rp = RosPack()
pkgpath = rp.get_path('panda_bridge_ros')
pkgpath += '/config/honda_civic_touring_2016_can_for_cantools.dbc'
self.parser = load_dbc_file(pkgpath)
self.p = Panda()
self.p.set_safety_mode(self.p.SAFETY_ALLOUTPUT)
self.gas_val = 0
self.brake_val = 0
self.steer_val = 0
self.engine_modifier = 0.0
self.sub_engine = rospy.Subscriber('/joy',
Joy,
self.engine_cb,
queue_size=1)
self.sub_steer = rospy.Subscriber('/steering_amount',
Int16,
self.steer_cb,
queue_size=1)
self.sub_brake = rospy.Subscriber('/braking_amount',
Int16,
self.brake_cb,
queue_size=1)
def __init__(self):
rp = RosPack()
pkg_path = rp.get_path('panda_bridge_ros')
self.can_msg_parser = load_dbc_file(pkg_path + '/config/' +
'honda_civic_touring_2016_can_for_cantools.dbc')
self.pub = rospy.Publisher('can_frame_msgs_human_friendly', String,
queue_size=10)
self.frame_sub = rospy.Subscriber('can_frame_msgs', Frame,
self._cb, queue_size=10)
self.msg_id_to_msg_name = {}
understood_msgs = []
for msg in self.can_msg_parser.messages:
this_msg = {}
this_msg['frame_id'] = msg.frame_id
this_msg['name'] = msg.name
this_msg['signals'] = msg.signals
this_msg['nodes'] = msg.nodes
understood_msgs.append(this_msg)
self.msg_id_to_msg_name[msg.frame_id] = msg.name
rospy.loginfo("We can interpret the messages:")
pp = PrettyPrinter()
rospy.loginfo(pp.pformat(understood_msgs))
# signal('CHIME', 47, 3, 'big_endian', False, 1, 0, 0, 7, 'None', False, None, {4: 'double_chime', 3: 'single_chime', 2: 'continuous_chime', 1: 'repeating_chime', 0: 'no_chime'}, None),
# signal('ZEROS_BOH6', 44, 1, 'big_endian', False, 1, 0, 0, 1, 'None', False, None, None, None),
# signal('FCW', 43, 2, 'big_endian', False, 1, 0, 0, 3, 'None', False, None, {3: 'fcw', 2: 'fcw', 1: 'fcw', 0: 'no_fcw'}, None),
# signal('ZEROS_BOH4', 55, 8, 'big_endian', False, 1, 0, 0, 0, 'None', False, None, None, None),
# signal('COUNTER', 61, 2, 'big_endian', False, 1, 0, 0, 3, 'None', False, None, None, None),
# signal('CHECKSUM', 59, 4, 'big_endian', False, 1, 0, 0, 15, 'None', False, None, None, None)]}
# apply_brake, pcm_override, pcm_cancel_cmd, chime, idx
# idx refers to the COUNTER field we see
brake_cmd = create_brake_command(True, True, True, 0, 0)
# Looks like: [506, 0, '\x00A\x13\x80\x80\x00\x00\x05', 0]
rp = RosPack()
pkg_path = rp.get_path('panda_bridge_ros')
can_msg_parser = load_dbc_file(
pkg_path + '/config/' +
'honda_civic_touring_2016_can_for_cantools.dbc')
# Let's double check the brake_cmd
decoded_brake_cmd = can_msg_parser.decode_message(brake_cmd[0],
brake_cmd[2])
# {'BRAKE_LIGHTS': 1,
# 'CHECKSUM': 5,
# 'CHIME': 'no_chime',
# 'COMPUTER_BRAKE': 1,
# 'COMPUTER_BRAKE_REQUEST': 1,
# 'COMPUTER_BRAKE_REQUEST_2': 1,
# 'COUNTER': 0,
# 'CRUISE_BOH2': 0,
# 'CRUISE_BOH3': 0,
# 'CRUISE_CANCEL_CMD': 1,