ulb16_test

ulb16_test.py

from canlib import canlib, Frame
from canlib.canlib import ChannelData
import time
import binascii


def setUpChannel(channel=0,
                 openFlags=canlib.canOPEN_ACCEPT_VIRTUAL,
                 bitrate=canlib.canBITRATE_500K,
                 bitrateFlags=canlib.canDRIVER_NORMAL):
    ch = canlib.openChannel(channel, openFlags)
    print("Using channel: %s, EAN: %s" % (ChannelData(channel).device_name,
                                          ChannelData(channel).card_upc_no))
    ch.setBusOutputControl(bitrateFlags)
    ch.setBusParams(bitrate)
    ch.busOn()
    return ch


def tearDownChannel(ch):
    ch.busOff()
    ch.close()


print("canlib version:", canlib.dllversion())

template = """
----------
{}	{}	{}	{}	{}


{}				{}


{}				{}


{}				{}


{}	{}	{}	{}	{}
$$$$$$$
"""

ch0 = setUpChannel(channel=0)

import binascii
import functools
import math


def hexint(b):
    if not b:
        return 0
    return b[1] * 256 + b[0]


def frame_data(b):
    if not b:
        return 0
    cal = lambda x, y: y * 256 + x
    if len(b) == 8:
        return "{}-{}, {}, {}, {}".format(b[0], b[1], cal(b[2], b[3]),
                                          cal(b[4], b[5]), cal(b[6], b[7]))
    else:
        return b


frames = [
    [0x1832, []],  # restore factory
    [0x2d32, [0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
              0x00]],  # stop auto measure
    [0x051e32, [0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]],
    [0x061e32, [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]],
    [0x071e32, [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]],
    [0x081e32, [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]],
    [0x091e32, [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]],
    [0x0a1e32, [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]],
    [0x0b1e32, [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]],
    [0x0c1e32, [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]],
    [0x1732, [0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00]],
    [0x1932, []],  # power cycle
    [0x2d32, [0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
              0x00]],  # stop auto measure
]
for id_, data in frames:
    frame = Frame(id_=id_, data=data, flags=canlib.canMSG_EXT)
    ch0.writeWait(frame, 10)
    get_frame = ch0.read(timeout=2000)
    print(get_frame)

distances = [0] * 16
indexes = []
while True:
    try:
        f = Frame(id_=0x2932, data=[0x01])
        ch0.writeWait(f, 10)

        while True:
            frame = ch0.read(timeout=2000)
            if frame.id == 0x2932:
                indexes = []
                [
                    indexes.append(i) for i in range(8)
                    if (frame.data[0] >> i) & 0x01
                ]
                [
                    indexes.append(i + 8) for i in range(8)
                    if (frame.data[1] >> i) & 0x01
                ]
                for i, idx in enumerate(indexes[:3]):
                    distances[idx] = (
                        frame.data[i * 2 + 3] << 8) + frame.data[i * 2 + 2]
            elif frame.id == 0x012932:
                if not indexes:
                    continue
                else:
                    for i, idx in enumerate(indexes[3:]):
                        distances[idx] = (
                            frame.data[i * 2 + 1] << 8) + frame.data[i * 2]
                        if idx not in (8, 9, 10, 11):
                            continue
            elif frame.id == 0xff2932:
                indexes = []
                break
        print(template.format(
            distances[12], distances[11], distances[10], distances[9],
            distances[8], distances[13], distances[7], distances[14],
            distances[6], distances[15], distances[5], distances[0],
            distances[1], distances[2], distances[3], distances[4]))
    except (canlib.canNoMsg) as ex:
        print(ex)
    except (canlib.canError) as ex:
        print(ex)

tearDownChannel(ch0)