diff options
Diffstat (limited to 'recipes-demo/simple-can-simulator/files')
| -rwxr-xr-x | recipes-demo/simple-can-simulator/files/simple_can_simulator.py | 381 |
1 files changed, 381 insertions, 0 deletions
diff --git a/recipes-demo/simple-can-simulator/files/simple_can_simulator.py b/recipes-demo/simple-can-simulator/files/simple_can_simulator.py new file mode 100755 index 0000000..83f8870 --- /dev/null +++ b/recipes-demo/simple-can-simulator/files/simple_can_simulator.py @@ -0,0 +1,381 @@ +#!/usr/bin/env python3 +# Copyright (c) 2016 Alex Bencz +# Copyright (c) 2019 Konsulko Group, smurray@konsulko.com +# Copyright (c) 2020 The Linux Foundation, jsmoeller@linuxfoundation.org +# +# Permission is hereby granted, free of charge, to any person obtaining a copy of +# this software and associated documentation files (the "Software"), to deal in +# the Software without restriction, including without limitation the rights to +# use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies +# of the Software, and to permit persons to whom the Software is furnished to do +# so, subject to the following conditions: +# +# The above copyright notice and this permission notice shall be included in all +# copies or substantial portions of the Software. +# +# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +# SOFTWARE. + +# +# CANSocket from: +# +# https://github.com/abencz/python_socketcan/blob/master/python_socketcan_example.py +# + +import sys +import socket +import argparse +import struct +import errno +import threading +import time + +class CANSocket(object): + FORMAT = "<IB3x8s" + FD_FORMAT = "<IB3x64s" + + def __init__(self, interface=None): + self.sock = socket.socket(socket.PF_CAN, socket.SOCK_RAW, socket.CAN_RAW) + if interface is not None: + self.bind(interface) + + def bind(self, interface): + self.sock.bind((interface,)) + self.sock.setsockopt(socket.SOL_CAN_RAW, socket.CAN_RAW_FD_FRAMES, 1) + + def send(self, can_id, data, flags=0): + can_id = can_id | flags + can_pkt = struct.pack(self.FORMAT, can_id, len(data), data) + self.sock.send(can_pkt) + + def sendfd(self, can_id, data, flags=0): + can_id = can_id | flags + datafd = data.ljust(64, b'\x00'); + can_pkt = struct.pack(self.FD_FORMAT, can_id, len(datafd), datafd) + self.sock.send(can_pkt) + + def recv(self, flags=0): + can_pkt = self.sock.recv(72) + + if len(can_pkt) == 16: + can_id, length, data = struct.unpack(self.FORMAT, can_pkt) + else: + can_id, length, data = struct.unpack(self.FD_FORMAT, can_pkt) + + can_id &= socket.CAN_EFF_MASK + return (can_id, data[:length]) + +class VehicleSimulator(object): + DEFAULT_IDLE_RPM = 600 + + def __init__(self): + self.CRUISEMODE = False + self.CRUISEACTIVE = False + self.CRUISESPEED = 0 + self.CRUISERPM = 0 + self.freq = 10 + self.vehicle_speed = 0 + self.engine_speed = self.DEFAULT_IDLE_RPM + self.thread = threading.Thread(target=self.run, daemon=True) + self.lock = threading.Lock() + + def reset(self): + with self.lock: + self.vehicle_speed = 0 + self.engine_speed = self.DEFAULT_IDLE_RPM + + def start(self): + self.thread.start() + + def get_engine_speed(self): + with self.lock: + return int(self.engine_speed) + + def get_vehicle_speed(self): + with self.lock: + return int(self.vehicle_speed) + + def accelerate(self, target_speed, target_rpm, duration, bycruise = False): + if target_speed <= self.vehicle_speed: + return + v = (target_speed - self.vehicle_speed) / (duration * self.freq) + r = (target_rpm - self.engine_speed) / (duration * self.freq) + while self.vehicle_speed < target_speed and (not self.CRUISEACTIVE or bycruise): + with self.lock: + self.vehicle_speed += v; + self.engine_speed += r; + time.sleep(1 / self.freq) + + def brake(self, target_speed, target_rpm, duration, bycruise = False): + if target_speed >= self.vehicle_speed: + return + v = (self.vehicle_speed - target_speed) / (duration * self.freq) + r = (self.engine_speed - target_rpm) / (duration * self.freq) + while self.vehicle_speed > target_speed and (not self.CRUISEACTIVE or bycruise): + with self.lock: + self.vehicle_speed -= v; + self.engine_speed -= r; + time.sleep(1 / self.freq) + + def increase(self, bycruise = True): + if self.CRUISEACTIVE: + target_speed = self.vehicle_speed + 5 + target_rpm = self.engine_speed * 1.1 + self.accelerate(target_speed, target_rpm, 2, bycruise) + + def decrease(self, bycruise = True): + if self.CRUISEACTIVE: + target_speed = self.vehicle_speed - 5 + target_rpm = self.engine_speed * 0.9 + self.brake(target_speed, target_rpm, 2, bycruise) + + def resume(self, bycruise = True): + target_speed = self.CRUISESPEED + target_rpm = self.CRUISERPM + current_speed = self.get_vehicle_speed() + if target_speed > current_speed: + self.accelerate(target_speed, target_rpm, 2, bycruise) + else: + self.brake(target_speed, target_rpm, 2, bycruise) + + def run(self): + while True: + if not self.CRUISEACTIVE: + self.accelerate(80, 3000, 5) + self.accelerate(104, 4000, 3) + self.brake(80, 3000, 3) + self.accelerate(104, 4000, 6) + self.brake(40, 2000, 4) + self.accelerate(90, 3000, 5) + self.brake(1, 650, 5) + if not self.CRUISEACTIVE: + self.reset() + time.sleep(5) + +class DiagnosticMessageHandler(object): + def __init__(self, can_sock, simulator, verbose=False): + self.can_sock = can_sock + self.simulator = simulator + self.verbose = verbose + self.thread = threading.Thread(target=self.run, daemon=True) + + def start(self): + self.thread.start() + + def run(self): + while True: + can_id, data = self.can_sock.recv() + #print('%03X#%s' % (can_id, ''.join(format(x, '02X') for x in data))) + if can_id == 0x7df: + # OBD-II request + if data[1] == 0x01 and data[2] == 0x0C: + # Engine speed + speed = self.simulator.get_engine_speed() + #print('engine speed = %d' % speed) + if speed > 16383.75: + speed = 16383.75 + reply = [ 0x04, 0x41, 0x0C ] + reply.append(4 * speed // 256) + reply.append(4 * speed % 256) + # pad remaining bytes to make 8 + reply.append(0) + reply.append(0) + reply.append(0) + self.can_sock.send(0x7e8, bytes(reply), 0) + elif data[1] == 0x01 and data[2] == 0x0D: + # Vehicle speed + speed = int(self.simulator.get_vehicle_speed()) % 256 + #print('vehicle speed = %d' % speed) + reply = [ 0x03, 0x41, 0x0D ] + reply.append(speed) + # pad remaining bytes to make 8 + reply.append(0) + reply.append(0) + reply.append(0) + reply.append(0) + self.can_sock.send(0x7e8, bytes(reply), 0) + +class SteeringWheelMessageHandler(object): + def __init__(self, can_sock, simulator, verbose=False): + self.can_sock = can_sock + self.simulator = simulator + self.verbose = verbose + self.thread = threading.Thread(target=self.run, daemon=True) + self.buttonpressed = False + self.buttonenabled = False + self.buttoncancel = False + self.buttondec = False + self.buttoninc = False + self.cruisemode = False + self.cruiseactive = False + + def start(self): + self.thread.start() + + def run(self): + while True: + can_id, data = self.can_sock.recv() + #print('%03X#%s' % (can_id, ''.join(format(x, '02X') for x in data))) + if can_id == 0x21: + #print('%03X#%s' % (can_id, ''.join(format(x, '02X') for x in data))) + if data: + #if data[6]: + #print('data6: %02X' % (data[6])) + if data[6] == 0x80 and not self.buttonpressed: + # we do skip any further lin messages + # two buttons at the same time won't work + # (aka unlikely w/o twisting fingers) + self.buttonpressed = True + self.buttonenabled = True + if data[6] == 0x08 and not self.buttonpressed: + self.buttonpressed = True + self.buttoncancel = True + if data[6] == 0x10 and not self.buttonpressed: + self.buttonpressed = True + self.buttondec = True + if data[6] == 0x40 and not self.buttonpressed: + self.buttonpressed = True + self.buttoninc = True + if data[6] == 0x00 and self.buttonpressed: + #now handle it as the button was released + if self.buttonenabled: + self.buttonenabled = False + self.cruisemode = not self.cruisemode + #print("set cruisemode to %s" % self.cruisemode) + self.simulator.CRUISEMODE = self.cruisemode + # disable/reset all if going off + if not self.cruisemode: + self.cruiseactive = False + self.simulator.CRUISEACTIVE = self.cruiseactive + self.simulator.CRUISESPEED = 0 + self.simulator.CRUISERPM = 0 + #print("set cruiseactive to %s" % self.cruiseactive) + if self.buttoncancel: + self.buttoncancel = False + self.simulator.CRUISESPEED = self.simulator.get_vehicle_speed() + self.simulator.CRUISERPM = self.simulator.get_engine_speed() + #print("set cruisespeed to %d" % self.simulator.CRUISESPEED ) + #print("set cruiserpm to %d" % self.simulator.CRUISERPM ) + self.cruiseactive = False + #print("set cruiseactive to %s" % self.cruiseactive ) + self.simulator.CRUISEACTIVE = self.cruiseactive + if self.buttondec: + self.buttondec = False + if self.cruiseactive: + #print("decrease") + self.simulator.decrease() + else: + # set speed + #print("set speed") + self.simulator.CRUISESPEED = self.simulator.get_vehicle_speed() + self.simulator.CRUISERPM = self.simulator.get_engine_speed() + #print("set cruisespeed to %d" % self.simulator.CRUISESPEED ) + #print("set cruiserpm to %d" % self.simulator.CRUISERPM ) + self.cruiseactive = not self.cruiseactive + #print("set cruiseactive to %s" % self.cruiseactive ) + self.simulator.CRUISEACTIVE = self.cruiseactive + if self.buttoninc: + self.buttoninc = False + if self.cruiseactive: + #print("increase") + self.simulator.increase() + else: + if self.simulator.CRUISESPEED > 0: + # resume + self.cruiseactive = not self.cruiseactive + self.simulator.CRUISEACTIVE = self.cruiseactive + #print("set cruiseactive to %s" % self.cruiseactive ) + #print("resume") + self.simulator.resume() + self.buttonpressed = False + + +class StatusMessageSender(object): + def __init__(self, can_sock, simulator, verbose=False): + self.can_sock = can_sock + self.simulator = simulator + self.verbose = verbose + self.thread = threading.Thread(target=self.run, daemon=True) + + def start(self): + self.thread.start() + + def run(self): + while True: + # Engine speed + speed = self.simulator.get_engine_speed() + if self.verbose: + print('engine speed = %d' % speed) + if speed > 16383.75: + speed = 16383.75 + # Message is 1 byte unknown, 1 byte fuel level, 2 bytes engine speed (4x), fuel low @ bit 55 + msg = [ 0, 0 ] + speed *= 4 + msg.append(speed // 256) + msg.append(speed % 256) + # pad remaining bytes to make 8 + msg.append(0) + msg.append(0) + msg.append(0) + msg.append(0) + self.can_sock.send(0x3d9, bytes(msg), 0) + + # Vehicle speed + speed = int(self.simulator.get_vehicle_speed()) % 256 + if self.verbose: + print('vehicle speed = %d' % speed) + # Message is 15 bits speed (64x), left aligned + msg = [ ] + # Note: extra 2x to yield required left-alignment + speed *= 128 + msg.append(speed // 256) + msg.append(speed % 256) + # pad remaining bytes to make 8 + msg.append(0) + msg.append(0) + msg.append(0) + msg.append(0) + msg.append(0) + msg.append(0) + self.can_sock.send(0x3e9, bytes(msg), 0) + + # Sleep 100 ms + time.sleep(0.1) + +def main(): + parser = argparse.ArgumentParser(description='Simple CAN vehicle simulator.') + parser.add_argument('interface', type=str, help='interface name (e.g. vcan0)') + parser.add_argument('-v', '--verbose', help='increase output verbosity', action='store_true') + args = parser.parse_args() + + try: + can_sock = CANSocket(args.interface) + diag_can_sock = CANSocket(args.interface) + steeringwheel_can_sock = CANSocket(args.interface) + except OSError as e: + sys.stderr.write('Could not listen on interface {0}\n'.format(args.interface)) + sys.exit(e.errno) + + print('Using {0}'.format(args.interface)) + sim = VehicleSimulator() + status_sender = StatusMessageSender(can_sock, sim, args.verbose) + diag_handler = DiagnosticMessageHandler(diag_can_sock, sim, args.verbose) + steeringwheel_handler = SteeringWheelMessageHandler(steeringwheel_can_sock, sim, args.verbose) + sim.start() + status_sender.start() + diag_handler.start() + steeringwheel_handler.start() + try: + while True: + time.sleep(60) + except (KeyboardInterrupt, SystemExit): + #sim.stop() + sys.exit(0) + +if __name__ == '__main__': + main() |