import can4python as can
frame_def = can.CanFrameDefinition(7, name='testmessage')
frame_def.producer_ids = ["1"]
signal_def = can.CanSignalDefinition("testsignal2", 0, 16)
frame_def.signaldefinitions.append(signal_def)
config = can.Configuration({7: frame_def}, ego_node_ids=["1"])
bus = can.CanBus(config, 'vcan0')
bus.send_signals({'testsignal2': 3}) # Signal value = 3
def init_vehiclesimulator():
"""Initialize the vehicle simulator.
Returns the tuple (temperature_simulator, speed_simulator, canbus)
"""
# Define CAN messages #
# Example on how to define CAN signals in source code
CAN_EGO_NODE_ID = "2"
FRAMEDEF1 = can.CanFrameDefinition(8, name='vehiclesimulationdata')
FRAMEDEF1.producer_ids = [CAN_EGO_NODE_ID]
FRAMEDEF1.signaldefinitions.append(
can.CanSignalDefinition('vehiclespeed',
startbit=8,
numberofbits=16,
scalingfactor=0.01,
endianness='big'))
FRAMEDEF1.signaldefinitions.append(
can.CanSignalDefinition('enginespeed',
startbit=26,
numberofbits=14,
endianness='big'))
FRAMEDEF2 = can.CanFrameDefinition(9, name='climatesimulationdata')
FRAMEDEF2.producer_ids = [CAN_EGO_NODE_ID]
FRAMEDEF2.signaldefinitions.append(
can.CanSignalDefinition('indoortemperature',
startbit=8,
numberofbits=11,
valueoffset=-50,
scalingfactor=0.1,
endianness='big'))
FRAMEDEF3 = can.CanFrameDefinition(7, name='climatecontrolsignals')
FRAMEDEF3.signaldefinitions.append(
can.CanSignalDefinition('acstatus',
startbit=7,
numberofbits=1,
endianness='big'))
CONFIG = can.Configuration(ego_node_ids=[CAN_EGO_NODE_ID])
CONFIG.add_framedefinition(FRAMEDEF1)
CONFIG.add_framedefinition(FRAMEDEF2)
CONFIG.add_framedefinition(FRAMEDEF3)
# Parse command line and set output verbosity #
commandlineparser = argparse.ArgumentParser(
formatter_class=argparse.RawDescriptionHelpFormatter)
commandlineparser.add_argument(
'-v',
action='count',
default=0,
help="Increase verbosity level. Can be repeated.")
commandlineparser.add_argument(
'-i',
dest="interface",
default="vcan0",
help="CAN interface name. Defaults to %(default)s.")
commandline = commandlineparser.parse_args()
if commandline.v == 1:
loglevel = logging.INFO
elif commandline.v >= 2:
loglevel = logging.DEBUG
else:
loglevel = logging.WARNING
logging.basicConfig(level=loglevel)
# Set up CAN bus #
logging.info(" ")
logging.info(" ")
logging.info(
"Starting vehicle simulator, using CAN interface {!r} with timeout {} s."
.format(commandline.interface, CYCLE_TIME))
canbus = can.CanBus(CONFIG, commandline.interface, timeout=CYCLE_TIME)
logging.debug(canbus.get_descriptive_ascii_art())
# Set up simulators #
speed_simulator = vehiclesimulationutilities.VehicleSpeedSimulator()
temperature_simulator = vehiclesimulationutilities.CabinTemperatureSimulator(
)
return temperature_simulator, speed_simulator, canbus