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# Copyright (C) 2024 Suchinton Chakravarty
#
# SPDX-License-Identifier: Apache-2.0
import can
import time
from rich.console import Console
import os
import argparse
from PyQt6.QtCore import QThread, pyqtSignal
import cantools
import sys
import logging
current_dir = os.path.dirname(os.path.abspath(__file__))
sys.path.append(os.path.dirname(current_dir))
from extras import config
class CAN_playback(QThread):
finished = pyqtSignal()
speedUpdate = pyqtSignal(int)
gearUpdate = pyqtSignal(str)
engineSpeedUpdate = pyqtSignal(int)
throttleUpdate = pyqtSignal(int)
indicatorUpdate = pyqtSignal(str)
try:
playbackFile = config.get_playback_file()
except Exception as e:
logging.error("Error loading playback file:", e)
# playbackFile = os.path.join(current_dir, "can_messages.txt")
def __init__(self, interface='vcan0'):
super(CAN_playback, self).__init__()
self._running = False
self.console_mode = False
self.interface = interface
self.bus = can.interface.Bus(interface='socketcan', channel=self.interface, bitrate=500000)
self.output_file = self.playbackFile
# Load the DBC file
self.db = cantools.database.load_file(os.path.join(os.path.dirname(__file__), 'agl-vcar.dbc'))
# Create a mapping of relevant messages
self.message_map = {
'Vehicle_Status_1': self.decode_speed,
'Transmission': self.decode_gear,
'Vehicle_Status_2': self.decode_engine_speed,
'Engine': self.decode_throttle,
'Vehicle_Status_3': self.decode_indicators
}
def write_to_file(self, messages):
with open(self.output_file, 'w') as file:
for msg in messages:
file.write(f"{msg.timestamp},{msg.arbitration_id},{msg.dlc},{','.join(map(lambda b: f'0x{b:02x}', msg.data))}\n")
def run(self):
"""Override run method to handle playback messages."""
if os.path.exists(self.output_file):
messages = []
with open(self.output_file, 'r') as file:
for line in file:
parts = line.strip().split(',', 3)
timestamp, arbitration_id, dlc, data_str = parts
data_bytes = [int(byte, 16) for byte in data_str.split(',') if byte]
msg = can.Message(
timestamp=float(timestamp),
arbitration_id=int(arbitration_id, 0),
dlc=int(dlc),
data=data_bytes
)
messages.append(msg)
self.replay_messages(messages)
def start_playback(self):
"""Start playback if not already running."""
if not self._running:
self._running = True
self.start() # Start the QThread
def stop_playback(self):
"""Stop playback."""
if self._running:
self.reset()
# Wait for thread to finish before shutting down the bus
self.wait(1000)
self.finished.emit()
def reset(self):
"""Reset the playback."""
self._running = False
self.speedUpdate.emit(0)
self.gearUpdate.emit("N")
self.engineSpeedUpdate.emit(0)
self.throttleUpdate.emit(0)
self.indicatorUpdate.emit("HazardOff")
def replay_messages(self, messages):
"""Replay CAN messages."""
# self._running = True
try:
start_time = messages[0].timestamp
except IndexError:
logging.error("No messages to replay from file:", self.output_file)
self.reset()
for msg in messages:
if not self._running: # Check if playback should stop
return
delay = msg.timestamp - start_time
self.bus.send(msg)
# Decode and emit signals for relevant messages
if msg.arbitration_id == self.db.get_message_by_frame_id(msg.arbitration_id).frame_id:
message_name = self.db.get_message_by_frame_id(msg.arbitration_id).name
if message_name in self.message_map:
decoded_data = self.decode_message(message_name, msg.data)
self.message_map[message_name](decoded_data)
time.sleep(delay)
start_time = msg.timestamp
def decode_message(self, message_name, data):
message = self.db.get_message_by_name(message_name)
return message.decode(data)
def decode_speed(self, decoded_data):
speed = int(decoded_data['PT_VehicleAvgSpeed'])
self.speedUpdate.emit(speed)
def decode_gear(self, decoded_data):
gear_value = int(decoded_data['Gear'])
if gear_value == 126:
gear = "P"
elif gear_value == 127:
gear = "D"
elif gear_value == -1 or gear_value == -2:
gear = "R"
elif gear_value == 0:
gear = "N"
else:
gear = f"{gear_value}"
self.gearUpdate.emit(gear)
def decode_engine_speed(self, decoded_data):
engine_speed = int(decoded_data['PT_EngineSpeed'])
self.engineSpeedUpdate.emit(engine_speed)
def decode_throttle(self, decoded_data):
throttle_position = int(decoded_data['ThrottlePosition'])
self.throttleUpdate.emit(throttle_position)
def decode_indicators(self, decoded_data):
if decoded_data['PT_HazardOn'] == 1:
self.indicatorUpdate.emit('HazardOn')
if decoded_data['PT_HazardOn'] == 0:
self.indicatorUpdate.emit('HazardOff')
if decoded_data['PT_LeftTurnOn'] == 1:
self.indicatorUpdate.emit('LeftBlinkerOn')
if decoded_data['PT_LeftTurnOn'] == 0:
self.indicatorUpdate.emit('LeftBlinkerOff')
if decoded_data['PT_RightTurnOn'] == 1:
self.indicatorUpdate.emit('RightBlinkerOn')
if decoded_data['PT_RightTurnOn'] == 0:
self.indicatorUpdate.emit('RightBlinkerOff')
def capture_can_messages(self):
messages = []
if self.console_mode:
console = Console()
console.print(f"Capturing CAN messages on {self.interface}. Press Ctrl+C to stop.")
try:
while True:
message = self.bus.recv()
if message is not None:
messages.append(message)
except KeyboardInterrupt:
console.print("Capture stopped.")
return messages
def main():
from rich.console import Console
from rich.prompt import Prompt
parser = argparse.ArgumentParser(description='CAN Message Capture and Playback Tool')
parser.add_argument('--interface', '-i', type=str, default='vcan0', help='Specify the CAN interface (default: vcan0)')
args = parser.parse_args()
can_tool = CAN_playback(interface=args.interface)
can_tool.console_mode = True
console = Console()
while True:
if can_tool._running:
console.print("Playback in progress. Please stop playback before capturing new messages.")
# ask for input 1 to stop playback
choice = Prompt.ask("Enter your choice", choices=['1'])
if choice == '1':
can_tool.stop_playback()
console.print("Playback stopped. Ready to capture new messages.")
continue
else:
console.print("\n[bold]CAN Message Capture and Playback[/bold]")
console.print("1. Capture CAN messages")
console.print("2. Replay captured messages")
console.print("3. Exit")
choice = Prompt.ask("Enter your choice", choices=['1', '2', '3'])
if choice == '1':
messages = can_tool.capture_can_messages()
console.print(f"Captured {len(messages)} messages.")
can_tool.write_to_file(messages)
console.print(f"CAN messages written to {can_tool.output_file}")
elif choice == '2':
if os.path.exists(can_tool.output_file):
console.print("Replaying captured messages...")
can_tool.start_playback()
console.print("Replay completed.")
else:
console.print(f"No captured messages found in {can_tool.output_file}")
else:
console.print("Exiting...")
break
if __name__ == "__main__":
main()
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