def less_to_channel_ref():
a = BooleanValue(False)
b = ChannelReference("Aliases/DesiredRPM")
b.value = 5.0
localhost_wait()
a.value = 1 < b.value
return a.value
def aug_bitwise_and_to_channel_ref():
a = DoubleValue(1)
b = ChannelReference("Aliases/DesiredRPM")
b.value = 5.0
localhost_wait()
a.value &= b.value
return a.value
def equal_to_channel_ref():
a = BooleanValue(True)
b = ChannelReference("Aliases/DesiredRPM")
b.value = 5.0
localhost_wait()
a.value = 1 == b.value
return a.value
def sub_to_channel_ref():
a = DoubleValue(0)
b = ChannelReference("Aliases/DesiredRPM")
b.value = 5.0
localhost_wait()
a.value = 1 - b.value
return a.value
def modulo_with_channel_ref():
a = DoubleValue(0)
b = ChannelReference("Aliases/DesiredRPM")
b.value = 2.0
localhost_wait()
a.value = 3 % b.value
return a.value
def aug_modulo_to_channel_ref():
a = DoubleValue(3)
b = ChannelReference("Aliases/DesiredRPM")
b.value = 2.0
localhost_wait()
a.value %= b.value
return a.value
def test_realtimesequence_channel_reference_param():
desired_rpm = ChannelReference('Aliases/DesiredRPM')
desired_rpm.value = 100.101
rtseq = RealTimeSequence(func1)
actual = rtseq.run({"p": desired_rpm})
actual.wait_for_result()
assert actual.ret_val == 100.101
def arithmetic_shift_right_augassign_channel_ref():
a = DoubleValue(1)
b = ChannelReference("Aliases/DesiredRPM")
b.value = 5.0
localhost_wait()
a.value >>= b.value
return a.value
def abs_channel_ref():
a = DoubleValue(0)
b = ChannelReference("Aliases/DesiredRPM")
b.value = -5.0
localhost_wait()
a.value = abs(b.value)
return a.value
def gt_equal_to_channel_ref():
a = BooleanValue(False)
b = ChannelReference("Aliases/DesiredRPM")
b.value = 1.0
localhost_wait()
a.value = 1 >= b.value
return a.value
def arithmetic_shift_right_to_channel_ref():
a = DoubleValue(0)
b = ChannelReference("Aliases/DesiredRPM")
b.value = 5.0
localhost_wait()
a.value = 1 >> b.value
return a.value
def aug_mult_to_channel_ref():
a = DoubleValue(2)
b = ChannelReference("Aliases/DesiredRPM")
b.value = 5.0
localhost_wait()
a.value *= b.value
return a.value
def call_parameter_send_channel_ref_by_value():
a = ChannelReference('Aliases/DesiredRPM')
ret = DoubleValue(0)
a.value = 67
localhost_wait(0.5)
_return_parameter_plus1_by_value(a)
ret.value = a.value
return ret.value
def for_loop_range_with_channel_ref():
a = DoubleValue(0)
b = ChannelReference('Aliases/DesiredRPM')
b.value = 10.0
localhost_wait(0.2)
for x in range(b.value):
a.value += x
return a
def call_clearfault():
a = ChannelReference("Aliases/DesiredRPM")
b = DoubleValue(0)
c = BooleanValue(False)
# Store initial channel value
b.value = a.value
fault(a, 1001)
clearfault(a)
# Try to assign back to the channel the initial value
a.value = b.value
# If everything went well the initial value and the current value should now be equal
c.value = b.value == a.value
return c.value
def state_machine_example():
state = I32Value(0)
iters = I32Value(0)
amplitude = DoubleValue(1000)
stop = BooleanValue(False)
output = ChannelReference('Aliases/DesiredRPM')
while stop.value != True and iters.value < 10: # noqa: E712 NI recommends you use comparison instead of identity.
state.value = rand(7)
if state.value == 0:
wait(2)
elif state.value == 1:
sine_wave(output, amplitude, 1, 0, 0, 2)
elif state.value == 2:
square_wave(output, amplitude, 5, 0, 0, 50, 2)
elif state.value == 3:
triangle_wave(output, amplitude, 1, 0, 0, 2)
elif state.value == 4:
uniform_white_noise_wave(output, amplitude, tickcountus(), 2)
elif state.value == 5:
ramp(output, -amplitude.value, amplitude, 2)
elif state.value == 6:
sawtooth_wave(output, amplitude, 1, 0, 0, 2)
else:
stop.value = True
iters.value += 1
state.value = rand(7)
def call_fault():
a = ChannelReference("Aliases/DesiredRPM")
b = DoubleValue(0)
fault(a, 1001)
b.value = a.value
# cleanup the fault so that other tests are still able to use this channel
clearfault(a)
return b.value
def engine_demo_basic(engine_power, desired_rpm):
"""Turn on the engine, set the desired_rpm to the passed value for 20 seconds, and shut down the engine.
You must access parameters through their ".value" property.
"""
# You can access a channel with a ChannelReference
engine_power_chan = ChannelReference('Aliases/EnginePower')
desired_rpm_chan = ChannelReference('Aliases/DesiredRPM')
engine_power_chan.value = engine_power.value
desired_rpm_chan.value = desired_rpm.value
wait(DoubleValue(20))
engine_power_chan.value = False
desired_rpm_chan.value = 0
def measure_set_point_response(setpoint, timeout, tolerance):
"""Sets the desired rpm to the specified setpoint and wait until the signal settles.
The tolerance is used to create upper and lower boundaries for the signal.
Returns the amount of time it takes the signal to settle or timeout.
"""
actual_rpm = ChannelReference('Aliases/ActualRPM')
desired_rpm = ChannelReference('Aliases/DesiredRPM')
start_time = DoubleValue(0)
settle_time = DoubleValue(0)
desired_rpm.value = setpoint.value
# Waits .5 seconds, so the gateway has time to update.
localhost_wait(0.5)
start_time.value = seqtime()
wait_until_settled(actual_rpm, desired_rpm.value + tolerance.value,
desired_rpm.value - tolerance.value, DoubleValue(2.0),
timeout.value)
settle_time.value = seqtime() - start_time.value
return settle_time.value
def run_engine_demo_advanced():
"""Run the engine_demo_advanced example.
To handle a condition that stops a task (such as, the engine temperature rising above a safe value),
use a try/finally block.
Regardless of the result of the execution, the finally block can be used to safely shut down the engine.
"""
try:
warmup_succeeded = BooleanValue(False)
engine_power = ChannelReference('Aliases/EnginePower')
desired_rpm = ChannelReference('Aliases/DesiredRPM')
actual_rpm = ChannelReference('Aliases/ActualRPM')
engine_temp = ChannelReference('Aliases/EngineTemp')
engine_power.value = True
warmup_succeeded.value = engine_demo_advanced(desired_rpm, actual_rpm, engine_temp)
finally:
engine_power.value = False
desired_rpm.value = 0
return warmup_succeeded.value
def enter_autonomous():
error_status = BooleanValue(False)
enter_autonomous_complete = BooleanValue(False)
enter_autonomous_succeeded = BooleanValue(False)
ReAX_GearA_Disable_chan = ChannelReference(
'Targets/TruckSim_TTC580/User Channels/NI-XNET/VCAN-B/ReAX_GearA (486535187)/ReAX_GearA (486535187) Disable')
ReAX_GearB_Disable_chan = ChannelReference(
'Targets/TruckSim_TTC580/User Channels/NI-XNET/VCAN-B/ReAX_GearB (486535443)/ReAX_GearB (486535443) Disable')
Power_On_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/DAQ/PXI1Slot2/Digital Output/port0/Power on')
SystemStatus_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/Server CAN/Incoming/Single-Point'
'/SystemStatus(69785)/SystemStatus')
Autonomous_Drive_chan = ChannelReference('Targets/TruckSim_TTC580/Hardware/Chassis/DAQ'
'/PXI1Slot2/Digital Output/port0/Autonomous Drive')
MODE_TRANS_chan = ChannelReference(
'Targets/TruckSim_TTC580/Simulation Models/Models/trucksim_LVRT/Inports/MODE_TRANS')
with multitask() as mt:
@task(mt)
def enter_30():
ReAX_GearA_Disable_chan.value = 0
ReAX_GearB_Disable_chan.value = 0
# Power on button
Power_On_chan.value = 1
# Check System Status
if SystemStatus_chan.value != 25:
error_status.value = True
# Push autonomous driving button
Autonomous_Drive_chan.value = 1
wait(DoubleValue(1))
Autonomous_Drive_chan.value = 0
# Check System Status
if SystemStatus_chan.value != 30:
error_status.value = True
MODE_TRANS_chan.value = 18
enter_autonomous_succeeded.value = True
@task(mt)
def monitor_error_status():
while enter_autonomous_complete.value is False:
if error_status.value:
stop_task(enter_30)
enter_autonomous_complete.value = True
enter_autonomous_succeeded.value = False
nivs_yield()
return enter_autonomous_succeeded.value
def set_engine_power(on_off):
"""Turns the engine on or off."""
engine_power = ChannelReference('Aliases/EnginePower')
engine_power.value = on_off.value
#Set Stop Trigger (Duration)
Logging_Specification_Ref.StopTrigger = DefaultTrigger(True)
Logging_Specification_Ref.PostTriggerDuration = 4
#Start Data Logging Session
Data_Logging_Manager_Ref.StartDataLoggingSession("myLoggingSession",Logging_Specification_Ref)
#################################################
###Changes channel values, wait and reset ###
#Prepare values that will be assigned
engine_power = BooleanValue(True)
desired_rpm = DoubleValue(3000)
wait_time = DoubleValue(10)
# You can access a channel with a ChannelReference
engine_power_chan = ChannelReference('Aliases/EnginePower')
desired_rpm_chan = ChannelReference('Aliases/DesiredRPM')
engine_power_chan.value = engine_power.value
desired_rpm_chan.value = desired_rpm.value
wait(wait_time.value)
engine_power_chan.value = False
desired_rpm_chan.value = 0
###############################################
#Stop Data Logging Session
logs_array = ["logs"]
Data_Logging_Manager_Ref.StopDataLoggingSession("myLoggingSession",True,Array[str](logs_array))
def test_run_py_as_rtseq_channel_reference_param():
desired_rpm = ChannelReference('Aliases/DesiredRPM')
desired_rpm.value = 100.101
actual = realtimesequencetools.run_py_as_rtseq(func1, {"p": desired_rpm})
assert actual == 100.101
from niveristand.clientapi import ChannelReference
Power_On_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/DAQ/PXI1Slot2/Digital Output/port0/Power on'
)
# ReAX_GearA_Disable_chan = ChannelReference(
# 'Targets/TruckSim_TTC580/User Channels/NI-XNET/VCAN-B/ReAX_GearA (486535187)/ReAX_GearA (486535187) Disable')
ReAX_GearB_Disable_chan = ChannelReference(
'Targets/TruckSim_TTC580/User Channels/NI-XNET/VCAN-B/ReAX_GearB (486535443)/ReAX_GearB (486535443) Disable'
)
RemoteAccelPedalPos_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/Vehicle CAN/Incoming/Single-Point/EEC2_CMD (418382648)'
'/RemoteAccelPedalPos')
XBRBrakeDemand_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/Vehicle CAN/Incoming/Single-Point/XBR (201591804)'
'/XBRBrakeDemand')
XPRPReq_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/VCAN-B/Incoming/Single-Point/XPRCmd (218060344)/XPRPReq'
)
SystemStatus_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/Server CAN/Incoming/Single-Point'
'/SystemStatus(69785)/SystemStatus')
Autonomous_Drive_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/DAQ'
'/PXI1Slot2/Digital Output/port0/Autonomous Drive')
MODE_TRANS_chan = ChannelReference(
'Targets/TruckSim_TTC580/Simulation Models/Models/trucksim_LVRT/Inports/MODE_TRANS'
)
# enginedemo
engine_power_chan = ChannelReference('Aliases/EnginePower')
desired_rpm_chan = ChannelReference('Aliases/DesiredRPM')
def self_check():
# *** initialization
# variables
TestPass = BooleanValue(True)
# channel references
Power_On_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/DAQ/PXI1Slot2/Digital Output/port0/Power on')
ReAX_GearA_Disable_chan = ChannelReference(
'Targets/TruckSim_TTC580/User Channels/NI-XNET/VCAN-B/ReAX_GearA (486535187)/ReAX_GearA (486535187) Disable')
ReAX_GearB_Disable_chan = ChannelReference(
'Targets/TruckSim_TTC580/User Channels/NI-XNET/VCAN-B/ReAX_GearB (486535443)/ReAX_GearB (486535443) Disable')
RemoteAccelPedalPos_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/Vehicle CAN/Incoming/Single-Point/EEC2_CMD (418382648)/RemoteAccelPedalPos')
XBRBrakeDemand_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/Vehicle CAN/Incoming/Single-Point/XBR (201591804)/XBRBrakeDemand')
XPRPReq_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/VCAN-B/Incoming/Single-Point/XPRCmd (218060344)/XPRPReq')
# *** end initialization
# *** steps
# start sending lateral drive
ReAX_GearA_Disable_chan.value = 0
ReAX_GearB_Disable_chan.value = 0
# power on VCU
Power_On_chan.value = 1
wait(DoubleValue(3))
# check RemoteAccelPedalPos, XBRBrakeDemand and XPRPReq has been zeroed
if RemoteAccelPedalPos_chan.value != 0 or \
-0.02 > XBRBrakeDemand_chan.value or XBRBrakeDemand_chan.value > 0.02 or \
XPRPReq_chan.value != 0:
TestPass.value = False
# wait for relays to switch on
wait(DoubleValue(5))
# *** end steps
return TestPass.value
def enter_30():
error_status = BooleanValue(True)
# channel references
Power_On_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/DAQ/PXI1Slot2/Digital Output/port0/Power on')
ReAX_GearA_Disable_chan = ChannelReference(
'Targets/TruckSim_TTC580/User Channels/NI-XNET/VCAN-B/ReAX_GearA (486535187)/ReAX_GearA (486535187) Disable')
ReAX_GearB_Disable_chan = ChannelReference(
'Targets/TruckSim_TTC580/User Channels/NI-XNET/VCAN-B/ReAX_GearB (486535443)/ReAX_GearB (486535443) Disable')
RemoteAccelPedalPos_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/Vehicle CAN/Incoming/Single-Point/EEC2_CMD (418382648)/RemoteAccelPedalPos')
XBRBrakeDemand_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/Vehicle CAN/Incoming/Single-Point/XBR (201591804)/XBRBrakeDemand')
XPRPReq_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/VCAN-B/Incoming/Single-Point/XPRCmd (218060344)/XPRPReq')
Autonomous_Drive_chan = ChannelReference('Targets/TruckSim_TTC580/Hardware/Chassis/DAQ'
'/PXI1Slot2/Digital Output/port0/Autonomous Drive')
MODE_TRANS_chan = ChannelReference(
'Targets/TruckSim_TTC580/Simulation Models/Models/trucksim_LVRT/Inports/MODE_TRANS')
SystemStatus_chan = ChannelReference(
'Targets/TruckSim_TTC580/Hardware/Chassis/NI-XNET/CAN/Server CAN/Incoming/Single-Point/SystemStatus (69785)/SystemStatus')
# *** end initialization
# *** steps
# start sending lateral drive
ReAX_GearA_Disable_chan.value = 0
ReAX_GearB_Disable_chan.value = 0
# power on VCU
Power_On_chan.value = 1
wait(DoubleValue(3))
if SystemStatus_chan.value != 25:
error_status.value = False
Autonomous_Drive_chan.value = 1
wait(DoubleValue(1))
Autonomous_Drive_chan.value = 0
if SystemStatus_chan.value != 30:
error_status.value = False
MODE_TRANS_chan.value = 18
return error_status.value
