From 698b17133dd304fe293f495aa3b96c4274ccdd50 Mon Sep 17 00:00:00 2001
From: tao_z <tzj0429@163.com>
Date: Wed, 22 Jun 2022 23:03:00 +0800
Subject: [PATCH] 新增换挡逻辑功能
---
Shifter.py | 148 +++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 131 insertions(+), 17 deletions(-)
diff --git a/Shifter.py b/Shifter.py
index c920bd0..d637499 100644
--- a/Shifter.py
+++ b/Shifter.py
@@ -1,18 +1,19 @@
-
+from email.message import Message
from ShifterDefine import *
import struct
from udsoncan import DidCodec
import configparser
-from dbc import *
+import cantools
+
+ProjectDBC = cantools.database.load_file("DBC/SX7H.dbc")
class AsciiCodec(DidCodec):
def __init__(self, string_len=None):
if string_len is None:
- raise ValueError(
- "You must provide a length to the AsciiCodec")
+ raise ValueError("You must provide a length to the AsciiCodec")
self.string_len = string_len
def encode(self, string_ascii):
@@ -37,6 +38,7 @@
class PartNumberCodec(DidCodec):
+
def __init__(self, byte_len=None):
if byte_len is None:
raise ValueError(
@@ -69,6 +71,7 @@
class PartNumberVersionCodec(DidCodec):
+
def __init__(self, byte_len=None):
if byte_len is None:
raise ValueError(
@@ -116,7 +119,7 @@
data = bytearray()
for i in range(self.byte_len):
- part = string_ascii[2 * i: 2 * i + 2]
+ part = string_ascii[2 * i:2 * i + 2]
data.append(int(part, 16))
return data
@@ -132,11 +135,15 @@
return self.byte_len
+UnlockButton_dic = {"Unlock Button No Request": 0, "Unlock Button Request": 1}
+
+
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()
@@ -166,9 +173,14 @@
0x211B: PartNumberCodec(1),
0x211c: PartNumberCodec(2),
0xF197: AsciiCodec(8),
-
0xF15a: AsciiCodec(10),
0xF15B: AsciiCodec(10),
+ 0xDF00: PartNumberCodec(1),
+ 0xDF01: PartNumberCodec(2),
+ 0xDF02: PartNumberCodec(1),
+ 0xDF03: PartNumberCodec(3),
+ 0xDF04: PartNumberCodec(3),
+ 0x1000: PartNumberCodec(2),
}
try:
config = configparser.ConfigParser()
@@ -182,13 +194,115 @@
self.canid.phy_rxId = 0x742
self.canid.fun_rxId = 0x7df
self.canid.normalid = 0x420
- self.dbc = DBC("DBC/SX7H.dbc")
+ self.SA1_message = ProjectDBC.get_message_by_name('SA1')
def FramUnpack(self, id=0x420, frame=[]):
- data = []
- data.append(' '.join(['0x' +
- '{:0<2x}'.format(a).upper() for a in list(frame)]))
- unpackframe = self.dbc.analyzer(msgid=0x420, data=data)
- self.position = ShifterPosition(unpackframe[4]['value']['raw'])
- self.Pbutton = unpackframe[5]['value']['raw']
- self.UnlockButton = unpackframe[6]['value']['raw']
+ input_signal = ProjectDBC.decode_message(id, frame)
+ # part_str = str(input_signal['SA1_Status_ParkButtonReq'])
+ # print(type(part_str))
+ # if input_signal['SA1_Status_ParkButtonReq'] == 'No request':
+ # print('yes')
+ # print(SA1_Status_ParkButtonReq_dic[part_str])
+ self.Pbutton = SA1_Status_ParkButtonReq_dic[str(
+ input_signal['SA1_Status_ParkButtonReq'])]
+ self.UnlockButton = SA1_Status_UnlockButtonReq_dic[str(
+ input_signal['SA1_Status_UnlockButtonReq'])]
+ self.position = SA1_Status_GearShftPosReq_dic[str(
+ input_signal['SA1_Status_GearShftPosReq'])]
+
+ def PackFrame(self, dic):
+ data = self.SA1_message.encode({
+ 'SA1_Status_PRNDL':
+ 0,
+ 'SA1_Status_GearShftPosReq':
+ SA1_Status_GearShftPosReq_dic[self.position],
+ 'SA1_Status_ParkButtonReq':
+ 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,
+ "SA1_Status_UnlockButtonReq":
+ 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.IC1_message = ProjectDBC.get_message_by_name('IC1')
+ self.TCU2_message = ProjectDBC.get_message_by_name('TCU2')
+ self.ABS1_message = ProjectDBC.get_message_by_name('ABS1')
+ self.Engine2_message = ProjectDBC.get_message_by_name('Engine2')
+
+ 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'
+ 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
--
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