from email.message import Message
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from ShifterDefine import *
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import struct
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from udsoncan import DidCodec
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import configparser
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import cantools
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ProjectDBC = cantools.database.load_file("DBC/SX7H.dbc")
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class AsciiCodec(DidCodec):
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def __init__(self, string_len=None):
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if string_len is None:
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raise ValueError("You must provide a length to the AsciiCodec")
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self.string_len = string_len
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def encode(self, string_ascii):
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if len(string_ascii) > self.string_len:
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string_ascii = string_ascii[0:self.string_len]
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elif len(string_ascii) < self.string_len:
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for i in range(self.string_len - len(string_ascii)):
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string_ascii += ' '
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return string_ascii.encode('ascii')
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def decode(self, string_bin):
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string_ascii = string_bin.decode('ascii')
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if len(string_ascii) > self.string_len:
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string_ascii = string_ascii[0:self.string_len]
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return string_ascii.strip()
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def __len__(self):
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return self.string_len
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class PartNumberCodec(DidCodec):
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def __init__(self, byte_len=None):
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if byte_len is None:
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raise ValueError(
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"You must provide a length to the PartNumberCodec")
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self.byte_len = byte_len
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def encode(self, string_ascii):
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if self.byte_len == 1:
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data = struct.pack('>B', int(string_ascii))
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elif self.byte_len == 2:
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data = struct.pack('>H', int(string_ascii))
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elif self.byte_len == 4:
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data = struct.pack('>L', int(string_ascii))
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elif self.byte_len == 8:
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data = struct.pack('>Q', int(string_ascii))
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if len(data) > self.byte_len:
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data = data[0:self.byte_len]
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return data
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def decode(self, byte_data):
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data = 0
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for i in byte_data:
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data = data << 8 | i
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return str(data)
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def __len__(self):
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return self.byte_len
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class PartNumberVersionCodec(DidCodec):
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def __init__(self, byte_len=None):
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if byte_len is None:
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raise ValueError(
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"You must provide a length to the PartNumberCodec")
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self.byte_len = byte_len
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def encode(self, string_ascii):
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if self.byte_len == 1:
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data = struct.pack('>B', int(string_ascii))
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elif self.byte_len == 2:
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data = struct.pack('>H', int(string_ascii))
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elif self.byte_len == 4:
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data = struct.pack('>L', int(string_ascii))
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elif self.byte_len == 8:
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data = struct.pack('>Q', int(string_ascii))
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if len(data) > self.byte_len:
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data = data[0:self.byte_len]
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return data
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def decode(self, byte_data):
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ret = ''
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for i in byte_data:
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ret += '%.1x' % i
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return ret
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def __len__(self):
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return self.byte_len
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class BCDCodec(DidCodec):
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def __init__(self, byte_len=None):
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self.byte_len = byte_len
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def encode(self, string_ascii):
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string_ascii = string_ascii.strip()
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if len(string_ascii) > self.byte_len * 2:
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string_ascii = string_ascii[0:self.byte_len * 2]
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elif len(string_ascii) < self.byte_len * 2:
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for i in range(self.byte_len * 2 - len(string_ascii)):
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string_ascii += '0'
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data = bytearray()
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for i in range(self.byte_len):
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part = string_ascii[2 * i:2 * i + 2]
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data.append(int(part, 16))
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return data
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def decode(self, byte_data):
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ret = ''
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for i in byte_data:
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ret += '%.2x' % i
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return ret
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def __len__(self):
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return self.byte_len
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UnlockButton_dic = {"Unlock Button No Request": 0, "Unlock Button Request": 1}
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class ShifterClass():
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def __init__(self):
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self.position = None
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self.Pbutton = None
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self.UnlockButton = None
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self.Voltage = 0
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self.canid = ShifterCANID()
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self.did_config = {
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0x2100: PartNumberCodec(1),
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0x2101: PartNumberCodec(1),
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0x2103: AsciiCodec(8),
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0x2104: AsciiCodec(4),
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0x2105: AsciiCodec(16),
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0x2106: PartNumberCodec(1),
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0xF187: AsciiCodec(16),
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0x2108: AsciiCodec(18),
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0xF18A: AsciiCodec(10),
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0x210B: BCDCodec(4),
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0xF18C: AsciiCodec(14),
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0xF190: AsciiCodec(17),
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0xF193: AsciiCodec(26),
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0xF195: AsciiCodec(28),
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0x2110: AsciiCodec(8),
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0x2111: AsciiCodec(16),
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0x2112: BCDCodec(4),
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0x2113: BCDCodec(4),
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0x2116: PartNumberCodec(2),
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0x2118: PartNumberCodec(1),
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0x2119: PartNumberCodec(1),
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0x211A: PartNumberCodec(1),
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0x211B: PartNumberCodec(1),
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0x211c: PartNumberCodec(2),
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0xF197: AsciiCodec(8),
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0xF15a: AsciiCodec(10),
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0xF15B: AsciiCodec(10),
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0xDF00: PartNumberCodec(1),
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0xDF01: PartNumberCodec(2),
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0xDF02: PartNumberCodec(1),
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0xDF03: PartNumberCodec(3),
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0xDF04: PartNumberCodec(3),
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0x1000: PartNumberCodec(2),
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}
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try:
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config = configparser.ConfigParser()
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config.read('config.ini')
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self.canid.phy_txId = int(config['CAN_ID']['tx_id'], 16)
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self.canid.phy_rxId = int(config['CAN_ID']['rx_id'], 16)
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self.canid.fun_rxId = int(config['CAN_ID']['fnrx_id'], 16)
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self.canid.normalid = int(config['CAN_ID']['normal_tx_id'], 16)
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except Exception as e:
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self.canid.phy_txId = 0x77A
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self.canid.phy_rxId = 0x742
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self.canid.fun_rxId = 0x7df
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self.canid.normalid = 0x420
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self.SA1_message = ProjectDBC.get_message_by_name('SA1')
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def FramUnpack(self, id=0x420, frame=[]):
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input_signal = ProjectDBC.decode_message(id, frame)
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# part_str = str(input_signal['SA1_Status_ParkButtonReq'])
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# print(type(part_str))
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# if input_signal['SA1_Status_ParkButtonReq'] == 'No request':
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# print('yes')
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# print(SA1_Status_ParkButtonReq_dic[part_str])
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self.Pbutton = SA1_Status_ParkButtonReq_dic[str(
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input_signal['SA1_Status_ParkButtonReq'])]
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self.UnlockButton = SA1_Status_UnlockButtonReq_dic[str(
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input_signal['SA1_Status_UnlockButtonReq'])]
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self.position = SA1_Status_GearShftPosReq_dic[str(
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input_signal['SA1_Status_GearShftPosReq'])]
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def PackFrame(self, dic):
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data = self.SA1_message.encode({
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'SA1_Status_PRNDL':
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0,
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'SA1_Status_GearShftPosReq':
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SA1_Status_GearShftPosReq_dic[self.position],
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'SA1_Status_ParkButtonReq':
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SA1_Status_ParkButtonReq_dic[self.Pbutton],
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"SA1_ShifterManualSignal":
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0,
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"SA1_ShifterModeSignal":
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0,
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"SA1_Status_ShftSensSng_Fault":
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0,
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"SA1_IND_ShifterMisUsd":
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0,
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"SA1_Live_counter":
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1,
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"SA1_Status_UnlockButtonReq":
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SA1_Status_UnlockButtonReq_dic[self.UnlockButton],
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"SA1_Status_EcoShifterModeReq":
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0,
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"SA1_Status_RqGearPosInV":
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0xf,
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"SA1_Status_ShiftPosValidFlag":
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0,
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})
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return data
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class VehicleClass():
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def __init__(self):
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self.Odm = 0
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self.speed = 0
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self.brake = 0
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self.ShiftLeverPos = 'P'
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self.pre_ShiftLeverPos = 'P'
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self.max_pos = 'Shifter position Zero'
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self.IC1_message = ProjectDBC.get_message_by_name('IC1')
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self.TCU2_message = ProjectDBC.get_message_by_name('TCU2')
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self.ABS1_message = ProjectDBC.get_message_by_name('ABS1')
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self.Engine2_message = ProjectDBC.get_message_by_name('Engine2')
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def pack_IC1(self, odm):
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self.Odm = odm
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data = self.IC1_message.encode({"odometer_value": odm})
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return data
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def pack_TCU2(self, shiftpos):
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#from value get key
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self.ShiftLeverPos = [
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k for k, v in TCU2_ShiterLevel_dic.items() if v == shiftpos
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][0]
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data = self.TCU2_message.encode({
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"ShiftLeverPos": shiftpos,
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"TCUDrivingMode": 0,
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"ActualGear": 0
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})
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return data
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def pack_ABS1(self, speed):
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self.speed = speed
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data = self.ABS1_message.encode({"vehicle_speed": speed})
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return data
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def pack_Engine2(self, brake):
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self.brake = brake
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data = self.Engine2_message.encode({"brake_pedal_status ": brake})
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return data
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def ShiftLogic(self, shift: ShifterClass):
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reqpos = 0
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if shift.Pbutton == SA1_Status_ParkButtonReq_dic[
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'Driver request park button']:
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reqpos = TCU2_ShiterLevel_dic['P']
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self.pre_ShiftLeverPos = "P"
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self.max_pos = 'Shifter position Zero'
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elif (shift.position >= SA1_Status_GearShftPosReq_dic['M-']) and (
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shift.position <= SA1_Status_GearShftPosReq_dic['M']):
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reqpos = TCU2_ShiterLevel_dic['M']
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self.pre_ShiftLeverPos = "P"
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self.max_pos = 'Shifter position Zero'
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else:
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if shift.position is not SA1_Status_GearShftPosReq_dic[
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'Shifter position Zero']:
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self.max_pos = ShiftMaxPosMap_dic[self.max_pos][shift.position]
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reqpos = GearShiftMap_dic[self.pre_ShiftLeverPos][self.max_pos]
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else:
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reqpos = GearShiftMap_dic[self.pre_ShiftLeverPos][self.max_pos]
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self.max_pos = 'Shifter position Zero'
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self.pre_ShiftLeverPos = [
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k for k, v in TCU2_ShiterLevel_dic.items() if v == reqpos
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][0]
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data = self.pack_TCU2(reqpos)
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return data
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