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FlaskCan_dbc.py
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#-*-coding:utf-8-*-
from threading import Thread
import time,can,json,os
from flask import Flask,request
import platform
import cantools
# HardwareState
# 0 CAR OFF
# 1 CAR ON
# 9 CAN BUS ERR
EPS_STATE_LKA = 0
CurSteerAngle = 0
SteerReturnFlag = 0
DriverOffFlag = 0
HardwareState = 0
RB_FLAG = 0
SteerReturnConfirm = 0
EPS_Count = 10
app = Flask(__name__)
carState = {'CurSteerAngle':0,'DriverOffFlag':0,'EPS_STATE_LKA':0,'HardwareState':0,'SteerReturnConfirm':0}
userReq = {'SteerReturnFlag':0}
@app.route('/',methods=['GET','POST'])
def car():
global carState,userReq,DriverOffFlag,EPS_STATE_LKA,HardwareState,SteerReturnFlag,SteerReturnConfirm
if request.method == 'GET':
carState['CurSteerAngle'] = CurSteerAngle
carState['DriverOffFlag'] = DriverOffFlag
carState['EPS_STATE_LKA'] = EPS_STATE_LKA
carState['HardwareState'] = HardwareState
carState['SteerReturnConfirm'] = SteerReturnConfirm
print(carState)
return json.dumps(carState)
if request.method == 'POST':
userReq['SteerReturnFlag'] = request.json['SteerReturnFlag']
print(userReq)
SteerReturnFlag = request.json['SteerReturnFlag']
print('SteerReturnBack_Post:%d\n'%SteerReturnFlag)
return json.dumps(userReq)
def rx_threading(bus,db):
global EPS_STATE_LKA
global CurSteerAngle
global DriverOffFlag
global HardwareState
Driver_belt = 0
main_state = 0
door_state = 0
gear_state = 0
can_filters = \
[{'can_id':0x495,'can_mask':0xfff,'extended':False},
{'can_id':0x572,'can_mask':0xfff,'extended':False},
{'can_id':0x432,'can_mask':0xfff,'extended':False},
{'can_id':0x305,'can_mask':0xfff,'extended':False},
{'can_id':0x349,'can_mask':0xfff,'extended':False},
{'can_id':0x412,'can_mask':0xfff,'extended':False}]
bus.set_filters(can_filters)
while True:
msg = bus.recv(1)
if msg is not None:
if msg.arbitration_id == 0x495:
EPS_STATE_LKA = db.decode_message(msg.arbitration_id, msg.data)["State_of_EPS_for_LKA_function"]
if msg.arbitration_id == 0x572:
Driver_belt = db.decode_message(msg.arbitration_id, msg.data)["IC_seat_bealt_driver_state"]
if msg.arbitration_id == 0x432:
main_state = db.decode_message(msg.arbitration_id, msg.data)["GW_BCM_SEV_main_state"]
if msg.arbitration_id == 0x412:
door_state = db.decode_message(msg.arbitration_id, msg.data)["BCM_Opening_states"]
if msg.arbitration_id == 0x349:
gear_state = db.decode_message(msg.arbitration_id, msg.data)["TCU_Gear_lever_position"]
if msg.arbitration_id == 0x305:
CurSteerAngle = db.decode_message(msg.arbitration_id, msg.data)["Steering_wheel_angle"]
if (Driver_belt == 1) and (door_state == 0):
DriverOffFlag = 1
else:
DriverOffFlag = 0
if gear_state == 0:
HardwareState = 0
else:
HardwareState = 1
def tx_threading(bus,db):
global EPS_STATE_LKA
global CurSteerAngle
global SteerReturnFlag,HardwareState
global RB_FLAG,SteerReturnConfirm,EPS_Count
msg_data_3F2 = {i.name:0 for i in db.get_message_by_name("ADAS_3F2_PSA1").signals}
ADAS_3F2_PSA1_msg = db.get_message_by_name("ADAS_3F2_PSA1")
# data = bytearray([0,0,0,0,0,0,0,0])
# print('SteerReturnFlag_global:%d\n'%SteerReturnFlag)
while True:
t1 = time.time()
# 每个循环周期，初始化msg_data的值为0
ADAS_3F2_PSA1_data = msg_data_3F2
if SteerReturnFlag == 1:
if EPS_STATE_LKA == 0:
stEPSCtlCMD = 2
elif EPS_STATE_LKA == 2:
stEPSCtlCMD = 3
elif EPS_STATE_LKA == 1:
stEPSCtlCMD = 4
elif EPS_STATE_LKA == 3:
stEPSCtlCMD = 4
else:
stEPSCtlCMD = 2
if (CurSteerAngle > 0) and (RB_FLAG == 0):
RB_FLAG = 1
if RB_FLAG == 1:
if EPS_Count > 0:
setpoint = CurSteerAngle
EPS_Count = EPS_Count -1
else:
setpoint = CurSteerAngle - 8
if (RB_FLAG == 1) and (CurSteerAngle < -50):
RB_FLAG = 2
if RB_FLAG == 2:
setpoint = CurSteerAngle + 8
if(RB_FLAG == 2) and (CurSteerAngle > 0):
setpoint = 0
RB_FLAG = 0
EPS_Count = 10
SteerReturnConfirm = 1
if (CurSteerAngle < 0) and (RB_FLAG == 0):
RB_FLAG = -1
if RB_FLAG == -1:
if EPS_Count > 0:
setpoint = CurSteerAngle
EPS_Count = EPS_Count -1
else:
setpoint = CurSteerAngle + 8
if (RB_FLAG == -1) and (CurSteerAngle > 50):
RB_FLAG = -2
if RB_FLAG == -2:
setpoint = CurSteerAngle - 8
if(RB_FLAG == -2) and (CurSteerAngle < 0):
setpoint = 0
RB_FLAG = 0
EPS_Count = 10
SteerReturnConfirm = 1
cofficient = 0.6
ADAS_3F2_PSA1_data["Column_angle_setpoint3F2"] = setpoint
ADAS_3F2_PSA1_data["General_state_of_LKA_function3F2"] = stEPSCtlCMD
ADAS_3F2_PSA1_data["Coefficient_toregulate_EPS"] = cofficient
else:
# stEPSCtlCMD = 2
SteerReturnConfirm = 0
RB_FLAG = 0
EPS_Count = 10
# print('stEPSCtlCMD%d'%stEPSCtlCMD)
ADAS_3F2_PSA1_data = ADAS_3F2_PSA1_msg.encode(ADAS_3F2_PSA1_data)
msg = can.Message(is_extended_id=False, arbitration_id=0x3f2, data=ADAS_3F2_PSA1_data)
try:
bus.send(msg)
time.sleep(0.05 - (time.time()-t1))
except:
print('No buffer space available')
HardwareState = 9
time.sleep(10)
if __name__ == '__main__':
sys = platform.system()
CurDir = os.path.dirname(os.path.abspath(__file__))
fileDir = os.path.join(CurDir,r"dbc/SteerCtl.dbc")
db = cantools.database.load_file(fileDir)
if sys == "Windows":
pass
elif sys == "Linux":
os.system('sudo ip link set can0 up type can bitrate 500000')
bus = can.interface.Bus(bustype='socketcan',channel = 'can0',bitrate=500000)
t1 = Thread(target=rx_threading, args=(bus,db,))
t1.start()
t2 = Thread(target=tx_threading,args=(bus,db,))
t2.start()
else:
pass
app.run(host='0.0.0.0',port='5000',debug=True,use_reloader=False)