Update extra modules

V1:
    - Add module to feed Steering Control CAN messages
    - Add License headers to files
    - Modify UI_Handler to accommodate new Navigation bar animations
    - Minor code refactoring

V2:
    - Add subscription handling in UI_Handler module
    - Add documentation for code
    - Remove redundant code

Bug-AGL: SPEC-4905

Signed-off-by: suchinton2001 <suchinton.2001@gmail.com>
Change-Id: I6f7c2c2fb00885064c7894329329f13e447648d3

1 files changed, 66 insertions, 0 deletions

diff --git a/extras/FeedCAN.py b/extras/FeedCAN.py
new file mode 100644
index 0000000..92649f4
--- /dev/null
+++ b/extras/FeedCAN.py
@@ -0,0 +1,66 @@
+"""
+   Copyright 2023 Suchinton Chakravarty
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+"""
+
+import can
+
+def send_can_signal(frame):
+    """
+    Sends a CAN signal to the CAN bus using the given frame.
+    Args:
+        frame (str): The frame to be sent to the CAN bus.
+    Returns:
+        None
+    """
+    msg = separate_can_frame(frame)
+    bus = can.interface.Bus(channel='can0', bustype='socketcan')
+    #msg = can.Message(arbitration_id=can_id, data=data, is_extended_id=False)
+    try:
+        bus.send(msg)
+        print("CAN signal sent successfully:")
+        print("CAN ID:", hex(msg.arbitration_id))
+        print("Data:", msg.data)
+        if frame!="021#FFFFFFFF00000000":
+            # Turn off signal
+            send_can_signal("021#FFFFFFFF00000000")
+
+    except can.CanError:
+        print("Failed to send CAN signal")
+    finally:
+        bus.shutdown()
+
+def separate_can_frame(frame):
+    """
+    Separates a CAN frame into its arbitration ID and data parts.
+    
+    Args:
+    frame (str): A string representing the CAN frame in the format "ARBID#DATA".
+    
+    Returns:
+    can.Message: A can.Message object with the arbitration ID and data extracted from the input frame.
+    """
+    arb_id, data = frame.split("#")
+    arb_id = int(arb_id, 16)
+    data = bytes.fromhex(data)
+    message = can.Message(arbitration_id=arb_id, data=data)
+    return message
+
+
+def main():
+    frame = "021#FFFFFFFF10000000"
+    send_can_signal(frame)
+
+if __name__ == "__main__":
+    main()