#
# CAN vehicle simulator
#
# Author: Jonas Berg
# Copyright (c) 2015, Semcon Sweden AB
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright notice,
# this list of conditions and the following disclaimer in the documentation
# and/or other materials provided with the distribution.
# 3. Neither the name of the Semcon Sweden AB nor the names of its contributors
# may be used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
# OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
import argparse
import logging
import time
import sys
import can4python as can
import vehiclesimulationutilities
# Settings #
CYCLE_TIME = 0.1 # seconds
[docs]def init_vehiclesimulator():
"""Initialize the vehicle simulator.
Returns the tuple (temperature_simulator, speed_simulator, canbus)
"""
# Define CAN messages #
# Example on how to define CAN signals in source code
CAN_EGO_NODE_ID = "2"
FRAMEDEF1 = can.CanFrameDefinition(8, name='vehiclesimulationdata')
FRAMEDEF1.producer_ids = [CAN_EGO_NODE_ID]
FRAMEDEF1.signaldefinitions.append(can.CanSignalDefinition('vehiclespeed', startbit=8, numberofbits=16,
scalingfactor=0.01, endianness='big'))
FRAMEDEF1.signaldefinitions.append(can.CanSignalDefinition('enginespeed', startbit=26, numberofbits=14,
endianness='big'))
FRAMEDEF2 = can.CanFrameDefinition(9, name='climatesimulationdata')
FRAMEDEF2.producer_ids = [CAN_EGO_NODE_ID]
FRAMEDEF2.signaldefinitions.append(can.CanSignalDefinition('indoortemperature', startbit=8, numberofbits=11,
valueoffset=-50, scalingfactor=0.1,
endianness='big'))
FRAMEDEF3 = can.CanFrameDefinition(7, name='climatecontrolsignals')
FRAMEDEF3.signaldefinitions.append(can.CanSignalDefinition('acstatus', startbit=7, numberofbits=1,
endianness='big'))
CONFIG = can.Configuration(ego_node_ids=[CAN_EGO_NODE_ID])
CONFIG.add_framedefinition(FRAMEDEF1)
CONFIG.add_framedefinition(FRAMEDEF2)
CONFIG.add_framedefinition(FRAMEDEF3)
# Parse command line and set output verbosity #
commandlineparser = argparse.ArgumentParser(formatter_class=argparse.RawDescriptionHelpFormatter)
commandlineparser.add_argument('-v', action='count', default=0, help="Increase verbosity level. Can be repeated.")
commandlineparser.add_argument('-i', dest="interface", default="vcan0",
help="CAN interface name. Defaults to %(default)s.")
commandline = commandlineparser.parse_args()
if commandline.v == 1:
loglevel = logging.INFO
elif commandline.v >= 2:
loglevel = logging.DEBUG
else:
loglevel = logging.WARNING
logging.basicConfig(level=loglevel)
# Set up CAN bus #
logging.info(" ")
logging.info(" ")
logging.info("Starting vehicle simulator, using CAN interface {!r} with timeout {} s.".format(
commandline.interface, CYCLE_TIME))
canbus = can.CanBus(CONFIG, commandline.interface, timeout=CYCLE_TIME)
logging.debug(canbus.get_descriptive_ascii_art())
# Set up simulators #
speed_simulator = vehiclesimulationutilities.VehicleSpeedSimulator()
temperature_simulator = vehiclesimulationutilities.CabinTemperatureSimulator()
return temperature_simulator, speed_simulator, canbus
[docs]def loop_vehiclesimulator(temperature_simulator, speed_simulator, canbus):
# Run simulators #
temperature = temperature_simulator.get_new_temperature()
vehiclespeed = speed_simulator.get_new_randomized_speed()
enginespeed = vehiclesimulationutilities.calculate_engine_speed(vehiclespeed)
logging.info(" {0:5.1f} km/h, {1:4.0f} RPM, {2:4.1f} deg C. Air condition state: {3}".format(
vehiclespeed, enginespeed, temperature, temperature_simulator.aircondition_state))
# Send CAN data #
signals_to_send = {'indoortemperature': temperature,
'vehiclespeed': vehiclespeed,
'enginespeed': enginespeed}
canbus.send_signals(signals_to_send)
# Receive CAN data, if available #
readstart = time.time()
try:
received = canbus.recv_next_signals()
except KeyboardInterrupt:
logging.warning("Keyboard interrupt. Quitting.")
raise
except can.CanTimeoutException:
received = {}
except can.CanException as err:
logging.warning('Failed to receive CAN frame. Error: {}'.format(err))
received = {}
readtime = time.time() - readstart
time.sleep(max(0, CYCLE_TIME-readtime))
# Set air condition state #
if 'acstatus' in received:
temperature_simulator.aircondition_state = bool(received['acstatus'])
######################
## Main application ##
######################
[docs]def main():
temperature_simulator, speed_simulator, canbus = init_vehiclesimulator()
## Main loop ##
while True:
try:
loop_vehiclesimulator(temperature_simulator, speed_simulator, canbus)
except KeyboardInterrupt:
sys.exit()
if __name__ == '__main__':
main()