From dd84d3ff28816a22a911bb26b435026b728676db Mon Sep 17 00:00:00 2001
From: tao_z <tzj0429@163.com>
Date: Sun, 07 Aug 2022 21:42:44 +0800
Subject: [PATCH] 针对B41V修改
---
Shifter.py | 144 +++++++++++++++++++++++++++++++++++++++++-------
1 files changed, 123 insertions(+), 21 deletions(-)
diff --git a/Shifter.py b/Shifter.py
index 56dbb40..00d08d9 100644
--- a/Shifter.py
+++ b/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
--
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