针对B41V修改

tao_z

2022-08-07 dd84d3ff28816a22a911bb26b435026b728676db

 Shifter.py

@@ -3,7 +3,9 @@
from udsoncan import DidCodec

import configparser
from dbc import *
import cantools

ProjectDBC = cantools.database.load_file("DBC/BJEV_B41V_20220411.dbc")


class AsciiCodec(DidCodec):
@@ -138,9 +140,9 @@
class ShifterClass():

    def __init__(self):
        self.position = ShifterPosition(0)
        self.Pbutton = 0
        self.UnlockButton = 0
        self.position = None
        self.Pbutton = None
        self.UnlockButton = None
        self.Voltage = 0
        self.canid = ShifterCANID()

@@ -190,21 +192,121 @@
            self.canid.phy_txId = 0x77A
            self.canid.phy_rxId = 0x742
            self.canid.fun_rxId = 0x7df
            self.canid.normalid = 0x420
        self.dbc = DBC("DBC/DFLZM.dbc")
            self.canid.normalid = 0x5E0
        self.SA1_message = ProjectDBC.get_message_by_name('EGSM_1')

    def FramUnpack(self, id=0x420, frame=[]):
        data = []
        data.append(' '.join(
            ['{:0>2x}'.format(a).upper() for a in list(frame)]))
        # print(data)
        unpackframe = self.dbc.analyzer(msgid=0x420, data=str(data[0]))
        # print(unpackframe[5]['value']['raw'])
        self.Pbutton = unpackframe[5]['value']['raw']
        print(unpackframe[5]["name"], unpackframe[5]['value']['raw'])
        # print(unpackframe[6]['value']['raw'])
        self.UnlockButton = unpackframe[4]['value']['raw']
        print(unpackframe[4]["name"], unpackframe[4]['value']['raw'])
        # print(unpackframe[4]['value']['raw'])
        self.position = unpackframe[7]['value']['raw']
        print(unpackframe[7]["name"], unpackframe[7]['value']['raw'])
    def FramUnpack(self, id=0x5E0, frame=[]):
        input_signal = ProjectDBC.decode_message(id, frame)
        self.Pbutton = SA1_Status_ParkButtonReq_dic[str(
            input_signal['EGSM1_St_DrvRqPark'])]
        self.UnlockButton = SA1_Status_UnlockButtonReq_dic[str(
            input_signal['EGSM1_St_DrvRqUnlock'])]
        self.position = SA1_Status_GearShftPosReq_dic[str(
            input_signal['EGSM1_St_DrvRqShft'])]

    def PackFrame(self, dic):
        data = self.SA1_message.encode({
            'SA1_Status_PRNDL':
            0,
            'EGSM1_St_DrvRqShft':
            SA1_Status_GearShftPosReq_dic[self.position],
            'EGSM1_St_DrvRqPark':
            SA1_Status_ParkButtonReq_dic[self.Pbutton],
            "SA1_ShifterManualSignal":
            0,
            "SA1_ShifterModeSignal":
            0,
            "SA1_Status_ShftSensSng_Fault":
            0,
            "SA1_IND_ShifterMisUsd":
            0,
            "SA1_Live_counter":
            1,
            "EGSM1_St_DrvRqUnlock":
            SA1_Status_UnlockButtonReq_dic[self.UnlockButton],
            "SA1_Status_EcoShifterModeReq":
            0,
            "SA1_Status_RqGearPosInV":
            0xf,
            "SA1_Status_ShiftPosValidFlag":
            0,
        })
        return data


class VehicleClass():

    def __init__(self):
        self.Odm = 0
        self.speed = 0
        self.brake = 0
        self.ShiftLeverPos = 'P'
        self.pre_ShiftLeverPos = 'P'
        self.max_pos = 'Shifter position Zero'
        self.BCM1_message = ProjectDBC.get_message_by_name('BCM_1')
        self.BCM_9_message = ProjectDBC.get_message_by_name('BDC_BCM_9')
        self.EHC6_message = ProjectDBC.get_message_by_name('CDC_EHC_6')
        self.CAPE1_message = ProjectDBC.get_message_by_name('BDC_CAPE_1')

        self.IPC1_message = ProjectDBC.get_message_by_name('CDC_IPC1')
        self.CGW_1_message = ProjectDBC.get_message_by_name('CGW_1')
        self.EMS_5_message = ProjectDBC.get_message_by_name('EMS_5')
        self.TBOX_1_message = ProjectDBC.get_message_by_name('TBOX_1')
        self.TCM_5_message = ProjectDBC.get_message_by_name('TCM_5')

    def pack_IC1(self, odm):
        self.Odm = odm
        data = self.IC1_message.encode({"odometer_value": odm})
        return data

    def pack_TCU2(self, shiftpos):
        #from value get key
        self.ShiftLeverPos = [
            k for k, v in TCU2_ShiterLevel_dic.items() if v == shiftpos
        ][0]
        data = self.TCU2_message.encode({
            "ShiftLeverPos": shiftpos,
            "TCUDrivingMode": 0,
            "ActualGear": 0
        })
        return data

    def pack_ABS1(self, speed):
        self.speed = speed
        data = self.ABS1_message.encode({"vehicle_speed": speed})
        return data

    def pack_Engine2(self, brake):
        self.brake = brake
        data = self.Engine2_message.encode({"brake_pedal_status ": brake})
        return data

    def ShiftLogic(self, shift: ShifterClass):
        reqpos = 0
        if shift.Pbutton == SA1_Status_ParkButtonReq_dic[
                'Driver request park button']:
            reqpos = TCU2_ShiterLevel_dic['P']
            self.pre_ShiftLeverPos = "P"
            self.max_pos = 'Shifter position Zero'
        elif (shift.position >= SA1_Status_GearShftPosReq_dic['M-']) and (
                shift.position <= SA1_Status_GearShftPosReq_dic['M']):
            reqpos = TCU2_ShiterLevel_dic['M']
            self.pre_ShiftLeverPos = "P"
            self.max_pos = 'Shifter position Zero'
        elif shift.position is SA1_Status_GearShftPosReq_dic[
                'Shifter not initialized']:
            pass
        else:
            if shift.position is not SA1_Status_GearShftPosReq_dic[
                    'Shifter position Zero']:
                self.max_pos = ShiftMaxPosMap_dic[self.max_pos][shift.position]
                reqpos = GearShiftMap_dic[self.pre_ShiftLeverPos][self.max_pos]
            else:
                reqpos = GearShiftMap_dic[self.pre_ShiftLeverPos][self.max_pos]
                self.max_pos = 'Shifter position Zero'
                self.pre_ShiftLeverPos = [
                    k for k, v in TCU2_ShiterLevel_dic.items() if v == reqpos
                ][0]

        data = self.pack_TCU2(reqpos)
        return data