swkim101/cybertruck.py

## cybertruck.py
"""
For CyberTruck Challenge 2021
https://www.cybertruckchallenge.org/participate/truck-challenges/
"""

from enum import Enum

class dotdict(dict):
    """dot.notation access to dictionary attributes"""
    __getattr__ = dict.get
    __setattr__ = dict.__setitem__
    __delattr__ = dict.__delitem__

mask = {
    "priority":         0b11100000000000000000000000000,
    "reserved":         0b00010000000000000000000000000,
    "dp":               0b00001000000000000000000000000,
    "pdu":              0b00000111111110000000000000000,
    "destination":      0b00000000000001111111100000000,
    "group_extension":  0b00000000000001111111100000000,
    "source":           0b00000000000000000000011111111,
    "pgn":              0b00011111111111111111100000000,
}

mask = dotdict(mask)


class Canid:
    def __init__(self, value):
        self.value = value

    @property
    def priority(self):
        return (self.value & mask.priority) >> 26

    @property
    def reserved(self):
        return (self.value & mask.reserved) >> 25

    @property
    def dp(self):
        return (self.value & mask.dp) >> 24

    @property
    def pdu(self):
        return (self.value & mask.pdu) >> 16

    @property
    def destination(self):
        return (self.value & mask.destination) >> 8

    @property
    def group_extension(self):
        return (self.value & mask.group_extension) >> 8

    @property
    def source(self):
        return self.value & mask.source

    @property
    def pgn(self):
        return (self.value & mask.pgn) >> 8

# pgn65256 - Vehicle Direction/Speed - VDS
class PGN65215:
    def __init__(self, value):
        self.value = value

    @property
    def front_axle_speed(self):
        return (self.value >> 48) / 256

    @property
    def front_axle_speed_left(self):
        offset = self.value & 0xFF0000000000
        diff = -7.8125
        diff = (offset >> 40) / 16 + diff
        return self.front_axle_speed + diff

    @property
    def front_axle_speed_right(self):
        offset = self.value & 0xFF00000000
        diff = -7.8125
        diff = (offset >> 32) / 16 + diff
        return self.front_axle_speed + diff

    @property
    def front_axle_speed_left(self):
        offset = self.value & 0xFF0000000000
        diff = -7.8125
        diff = (offset >> 40) / 16 + diff
        return self.front_axle_speed + diff

    @property
    def front_axle_speed_right(self):
        offset = self.value & 0xFF00000000
        diff = -7.8125
        diff = (offset >> 32) / 16 + diff
        return self.front_axle_speed + diff

    @property
    def rear_axle_speed_left(self):
        offset = self.value & 0xFF000000
        diff = -7.8125
        diff = (offset >> 24) / 16 + diff
        return self.front_axle_speed + diff

    @property
    def rear_axle_speed_right(self):
        offset = self.value & 0xFF0000
        diff = -7.8125
        diff = (offset >> 16) / 16 + diff
        return self.front_axle_speed + diff


class PGN61444:
    def __init__(self, value):
        self.value = value

    @property
    def engine_speed(self):
        offset = self.value & 0xFFFF000000
        a = 0.125 #rpm per bit
        return (offset >> 24) * a

class PGN65265:
    def __init__(self, value):
        self.value = value

    @property
    def cruise_control_states(self):
        offset = self.value & 0b11100000000
        offset = offset >> 8

        status_table = [
            "Off/Disabled",
            "Hold",
            "Accelerate",
            "Decelerate/Coast",
            "Resume",
            "Set",
            "Accelerate override",
            "Not available",
        ]
        # 0b000 = "Off/Disabled"
        # 0b001 = "Hold"
        # 0b010 = "Accelerate"
        # 0b011 = "Decelerate/Coast"
        # 0b100 = "Resume"
        # 0b101 = "Set"
        # 0b110 = "Accelerate override"
        # 0b111 = "Not available"

        return status_table[offset]

    @property
    def brake_switch_states(self):
        offset = self.value >> 32
        offset = offset & 0b1100
        offset = offset >> 2

        status_table = [
            "Brake pedal released",
            "Brake pedal depressed",
            "Error",
            "Not available",
        ]
        # 0b00 = "Brake pedal released"
        # 0b01 = "Brake pedal depressed"
        # 0b10 = "Error"
        # 0b11 = "Not available"

        return status_table[offset]


with open("j1939.raw", "r") as f:
    pgnset = set()
    sourceset = set()
    topspeed = 0
    lowestrpm = 9999
    is_cruised = False
    is_braked = False
    for line in f:
        canid = Canid(int(line.split("#")[0], 16))
        data = int(line.split("#")[1], 16)
        pgnset.add(canid.pgn)
        sourceset.add(canid.source)


        if (canid.pgn == 65215):
            data = PGN65215(data)
            topspeed = topspeed if topspeed > data.front_axle_speed else data.front_axle_speed
            continue
        if (canid.pgn == 61444):
            data = PGN61444(data)
            lowestrpm = lowestrpm if lowestrpm < data.engine_speed else data.engine_speed
            continue

        if (canid.pgn == 65265):
            data = PGN65265(data)
            if data.cruise_control_states not in ["Off/Disabled", "Not available"]:
                is_cruised = True
            if data.brake_switch_states == "Brake pedal released":
                is_braked = True
            continue


        # if (canid.pdu >= 240):
        #     print (" priority | pdu2 | gext | src | pgn")
        #     pgnset.add(canid.pgn)
        # if (canid.pdu < 240):
        #     print (" priority | pdu1 | dest | src")

    pgnset_list = list(pgnset)
    sourceset_list = list(sourceset)

    print("What was the top speed in whole miles per hour of the truck during this time period?")
    print(topspeed, " mph") # 98.07421875  mph
    print("What was the lowest engine speed in RPM during this time period?")
    print(lowestrpm, " rpm") # 579.625 rpm
    print("Did the driver have the cruise control set during this time?")
    print(is_cruised) # False
    print("Did the driver press the service brake pedal during this time?")
    print(is_braked) # True
    print("How many different controller applications broadcasting data on the J1939 network during this time?")
    print(len(sourceset_list)) # 9
    print("How many parameter group numbers are on the network at this time?")
    print(len(pgnset_list)) # 54
    print("What is the CAN bus load during this time?")
    print("24.8327%") # 24.8327%, manual

# Related PGNs
# mph, top speed
# pgn65134 - High Resolution Wheel Speed - HRW
# pgn65215 - Wheel Speed Information - EBC2
# pgn65256 - Vehicle Direction/Speed - VDS
# pgn65217 - High Resolution Vehicle Distance - VDHR
# pgn65248 - Vehicle Distance - VD
# RPM,     lowest engine speed
# pgn65108
# pgn65170 - Engine Information - EI  -> NO RPM
# pgn65207 - Engine Speed/Load Factor Information
# Y / N,   cruise control
# pgn65206 - Trip Vehicle Speed/Cruise Distance Information - TVI
# pgn65105 - Adaptive Cruise Control, Operator Input - ACC2
# pgn65265 - Cruise Control/Vehicle Speed - CCVS
# pgn65261 - Cruise Control/Vehicle Speed Setup - CCSS
# pgn65135 - Adaptive Cruise Control - ACC1
# Y / N,   press service brake pedal
# pgn65212 - Compression/Service Brake Information - CBI
# pgn61441 - Electronic Brake Controller 1 - EBC1
# pgn65274 - Brakes - B
# count,   How many different controller applications?
# count,   How many parameter group numbers?
# ??,      CAN bus load during
# Bus load = Used capacity / Max capacity


"""
What was the top speed in whole miles per hour of the truck during this time period?
98.07421875  mph
What was the lowest engine speed in RPM during this time period?
579.625  rpm
Did the driver have the cruise control set during this time?
False
Did the driver press the service brake pedal during this time?
True
How many different controller applications broadcasting data on the J1939 network during this time?
9
How many parameter group numbers are on the network at this time?
54
What is the CAN bus load during this time?
24.8327 %

62.093kbps / 250kbps =
load: 24.8327 %
"""

## j1939.raw
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18FF3000#0000FFFFFFFFFFFF
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14FF0121#FFFFFFFFFFFFFCFF
18FE4F3E#0400FFFFFFFFFFFF
0CF00400#F1D0CC2A1D00FFCC
14FFA000#FCFFFFFFFFFFFFFF
18FEF000#FFFFFF0000F000FF
0CF00421#FFFFFFFFFFFFFFFF
0CF00A01#C01F822BFFFFFFFF
10F01A01#0000FFFFFFFFFFFF
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0CF00400#F1D0CC181D00FFCC
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0CF00400#F1D0CC1A1D00FFCC
18FFA03D#2322220028001CFF
10FE6F00#FFFFFFFFFFFFFFFF
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0C00000B#FCFFFAFAFFFFFFFF
0CF00A01#D71D902BFFFFFFFF
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14FEF131#CFFFFFF300FFFF30
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0CF00400#F1D0CD201D00FFCD
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0CF00A01#881DAD2BFFFFFFFF
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14FDA421#FFFFFFFFFFFFFFFF
0CF00400#F1D0CD2A1D00FFCD
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18F00100#FFFFFFFFFFFFFFFF
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0CF00400#F8D0CD4E1D00FFCD
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18F00F3D#A00FFFFFFFFFFFFF
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18FDB400#0934C032FFFFFFFF
18FD8C3D#26000A00FFFFFFFF
0CF00400#F8D0CD611D00FFCD
10FE6F00#FFFFFFFFFFFFFFFF
18FEF700#FFFFFFFF17011701
0C00000B#FCFFFAFAFFFFFFFF
0CF00A01#961DEE2BFFFFFFFF
10F01A01#0000FFFFFFFFFFFF
10FDA301#FFFFFFFFFFFFFFFF
18FDD001#FFFFFF4141FFFFFF
18FEDB01#B321B321B321FFFF
18FD9401#5008FFFFFFFFFFFF
0CF00400#F8D0CE6E1D00FFCE
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0CF00300#DCFA60FFFFFFC8FF
1CFE9201#FF8CC4FFFFFFFFFF
18FEF200#1801C1028502FFFF
14F00031#CFFFFFFFFFFFFFFF
0C000F0B#FCFFFA00FFFFFFFF
0CF00400#F8D0CE7D1D00FFCE
18FEDF00#860013FF7FFFFFFF
14F00131#FFFFFFFF00FFFFFF
10FF2121#72551FC0C0FFFFE1
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0CF00400#F8D0CE931D00FFCE
14FF3131#0030030000FFFFFF
14FEF121#F3FFFF0FFFFFFFFF
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0C00290B#FCFFFA00FFFFFFFF
0CF00400#F8D0CEA81D00FFCE
18FF3000#0000FFFFFFFFFFFF
18FEF117#F3FFFFFFFFFFFFFF
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14FF0121#FFFFFFFFFFFFFCFF
18FE4F3E#0400FFFFFFFFFFFF
0CF00400#F8D0CFB61D00FFCF
14FFA000#FCFFFFFFFFFFFFFF
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0CF00421#FFFFFFFFFFFFFFFF
0CF00A01#2D1E5A2CFFFFFFFF
10F01A01#0000FFFFFFFFFFFF
14FF0221#FFFFFFFFFFFFFFFF
18F0010B#C0FFF0FFFF0DFF3F
0CF00400#F8D1CFB31D00FFCF
0CF00300#DCFA62FFFFFFCDFF
18FEF100#C394140000000030
18FEE000#1BC9A8001BC9A800
	"""
	For CyberTruck Challenge 2021
	https://www.cybertruckchallenge.org/participate/truck-challenges/
	"""

	from enum import Enum

	class dotdict(dict):
	"""dot.notation access to dictionary attributes"""
	__getattr__ = dict.get
	__setattr__ = dict.__setitem__
	__delattr__ = dict.__delitem__

	mask = {
	"priority": 0b11100000000000000000000000000,
	"reserved": 0b00010000000000000000000000000,
	"dp": 0b00001000000000000000000000000,
	"pdu": 0b00000111111110000000000000000,
	"destination": 0b00000000000001111111100000000,
	"group_extension": 0b00000000000001111111100000000,
	"source": 0b00000000000000000000011111111,
	"pgn": 0b00011111111111111111100000000,
	}

	mask = dotdict(mask)


	class Canid:
	def __init__(self, value):
	self.value = value

	@property
	def priority(self):
	return (self.value & mask.priority) >> 26

	@property
	def reserved(self):
	return (self.value & mask.reserved) >> 25

	@property
	def dp(self):
	return (self.value & mask.dp) >> 24

	@property
	def pdu(self):
	return (self.value & mask.pdu) >> 16

	@property
	def destination(self):
	return (self.value & mask.destination) >> 8

	@property
	def group_extension(self):
	return (self.value & mask.group_extension) >> 8

	@property
	def source(self):
	return self.value & mask.source

	@property
	def pgn(self):
	return (self.value & mask.pgn) >> 8

	# pgn65256 - Vehicle Direction/Speed - VDS
	class PGN65215:
	def __init__(self, value):
	self.value = value

	@property
	def front_axle_speed(self):
	return (self.value >> 48) / 256

	@property
	def front_axle_speed_left(self):
	offset = self.value & 0xFF0000000000
	diff = -7.8125
	diff = (offset >> 40) / 16 + diff
	return self.front_axle_speed + diff

	@property
	def front_axle_speed_right(self):
	offset = self.value & 0xFF00000000
	diff = -7.8125
	diff = (offset >> 32) / 16 + diff
	return self.front_axle_speed + diff

	@property
	def front_axle_speed_left(self):
	offset = self.value & 0xFF0000000000
	diff = -7.8125
	diff = (offset >> 40) / 16 + diff
	return self.front_axle_speed + diff

	@property
	def front_axle_speed_right(self):
	offset = self.value & 0xFF00000000
	diff = -7.8125
	diff = (offset >> 32) / 16 + diff
	return self.front_axle_speed + diff

	@property
	def rear_axle_speed_left(self):
	offset = self.value & 0xFF000000
	diff = -7.8125
	diff = (offset >> 24) / 16 + diff
	return self.front_axle_speed + diff

	@property
	def rear_axle_speed_right(self):
	offset = self.value & 0xFF0000
	diff = -7.8125
	diff = (offset >> 16) / 16 + diff
	return self.front_axle_speed + diff


	class PGN61444:
	def __init__(self, value):
	self.value = value

	@property
	def engine_speed(self):
	offset = self.value & 0xFFFF000000
	a = 0.125 #rpm per bit
	return (offset >> 24) * a

	class PGN65265:
	def __init__(self, value):
	self.value = value

	@property
	def cruise_control_states(self):
	offset = self.value & 0b11100000000
	offset = offset >> 8

	status_table = [
	"Off/Disabled",
	"Hold",
	"Accelerate",
	"Decelerate/Coast",
	"Resume",
	"Set",
	"Accelerate override",
	"Not available",
	]
	# 0b000 = "Off/Disabled"
	# 0b001 = "Hold"
	# 0b010 = "Accelerate"
	# 0b011 = "Decelerate/Coast"
	# 0b100 = "Resume"
	# 0b101 = "Set"
	# 0b110 = "Accelerate override"
	# 0b111 = "Not available"

	return status_table[offset]

	@property
	def brake_switch_states(self):
	offset = self.value >> 32
	offset = offset & 0b1100
	offset = offset >> 2

	status_table = [
	"Brake pedal released",
	"Brake pedal depressed",
	"Error",
	"Not available",
	]
	# 0b00 = "Brake pedal released"
	# 0b01 = "Brake pedal depressed"
	# 0b10 = "Error"
	# 0b11 = "Not available"

	return status_table[offset]



	with open("j1939.raw", "r") as f:
	pgnset = set()
	sourceset = set()
	topspeed = 0
	lowestrpm = 9999
	is_cruised = False
	is_braked = False
	for line in f:
	canid = Canid(int(line.split("#")[0], 16))
	data = int(line.split("#")[1], 16)
	pgnset.add(canid.pgn)
	sourceset.add(canid.source)


	if (canid.pgn == 65215):
	data = PGN65215(data)
	topspeed = topspeed if topspeed > data.front_axle_speed else data.front_axle_speed
	continue
	if (canid.pgn == 61444):
	data = PGN61444(data)
	lowestrpm = lowestrpm if lowestrpm < data.engine_speed else data.engine_speed
	continue

	if (canid.pgn == 65265):
	data = PGN65265(data)
	if data.cruise_control_states not in ["Off/Disabled", "Not available"]:
	is_cruised = True
	if data.brake_switch_states == "Brake pedal released":
	is_braked = True
	continue


	# if (canid.pdu >= 240):
	# print (" priority \| pdu2 \| gext \| src \| pgn")
	# pgnset.add(canid.pgn)
	# if (canid.pdu < 240):
	# print (" priority \| pdu1 \| dest \| src")

	pgnset_list = list(pgnset)
	sourceset_list = list(sourceset)

	print("What was the top speed in whole miles per hour of the truck during this time period?")
	print(topspeed, " mph") # 98.07421875 mph
	print("What was the lowest engine speed in RPM during this time period?")
	print(lowestrpm, " rpm") # 579.625 rpm
	print("Did the driver have the cruise control set during this time?")
	print(is_cruised) # False
	print("Did the driver press the service brake pedal during this time?")
	print(is_braked) # True
	print("How many different controller applications broadcasting data on the J1939 network during this time?")
	print(len(sourceset_list)) # 9
	print("How many parameter group numbers are on the network at this time?")
	print(len(pgnset_list)) # 54
	print("What is the CAN bus load during this time?")
	print("24.8327%") # 24.8327%, manual

	# Related PGNs
	# mph, top speed
	# pgn65134 - High Resolution Wheel Speed - HRW
	# pgn65215 - Wheel Speed Information - EBC2
	# pgn65256 - Vehicle Direction/Speed - VDS
	# pgn65217 - High Resolution Vehicle Distance - VDHR
	# pgn65248 - Vehicle Distance - VD
	# RPM, lowest engine speed
	# pgn65108
	# pgn65170 - Engine Information - EI -> NO RPM
	# pgn65207 - Engine Speed/Load Factor Information
	# Y / N, cruise control
	# pgn65206 - Trip Vehicle Speed/Cruise Distance Information - TVI
	# pgn65105 - Adaptive Cruise Control, Operator Input - ACC2
	# pgn65265 - Cruise Control/Vehicle Speed - CCVS
	# pgn65261 - Cruise Control/Vehicle Speed Setup - CCSS
	# pgn65135 - Adaptive Cruise Control - ACC1
	# Y / N, press service brake pedal
	# pgn65212 - Compression/Service Brake Information - CBI
	# pgn61441 - Electronic Brake Controller 1 - EBC1
	# pgn65274 - Brakes - B
	# count, How many different controller applications?
	# count, How many parameter group numbers?
	# ??, CAN bus load during
	# Bus load = Used capacity / Max capacity


	"""
	What was the top speed in whole miles per hour of the truck during this time period?
	98.07421875 mph
	What was the lowest engine speed in RPM during this time period?
	579.625 rpm
	Did the driver have the cruise control set during this time?
	False
	Did the driver press the service brake pedal during this time?
	True
	How many different controller applications broadcasting data on the J1939 network during this time?
	9
	How many parameter group numbers are on the network at this time?
	54
	What is the CAN bus load during this time?
	24.8327 %

	62.093kbps / 250kbps =
	load: 24.8327 %
	"""
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