80 lines
3.5 KiB
Python
80 lines
3.5 KiB
Python
"""Send AMI 0x182 display values through a python-can adapter (no motor actuation)."""
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import argparse
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from decimal import Decimal, InvalidOperation
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import os
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import struct
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import time
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def temperature_raw(value):
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try:
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scaled = Decimal(value) * 10
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if not scaled.is_finite() or scaled != scaled.to_integral_value():
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raise ValueError('temperature must have at most one decimal place')
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raw = int(scaled)
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except (InvalidOperation, OverflowError) as exc:
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raise ValueError('invalid temperature') from exc
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if not -32768 <= raw <= 32767:
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raise ValueError('temperature must be -3276.8..3276.7 degC')
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return raw
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def build_payload(torque, motor_temp, mcu_temp, valid=7):
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if not -1000 <= torque <= 1000:
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raise ValueError('torque must be -1000..1000 permille')
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if not 0 <= valid <= 7:
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raise ValueError('valid must be 0..7 (bit0 torque, bit1 motor, bit2 MCU)')
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return struct.pack('<hhhBB', torque, temperature_raw(motor_temp),
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temperature_raw(mcu_temp), valid, 1)
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def main():
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parser = argparse.ArgumentParser(description=__doc__)
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parser.add_argument('--torque', type=int, required=True)
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parser.add_argument('--motor-temp', required=True, help='degC, up to one decimal place')
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parser.add_argument('--mcu-temp', required=True, help='motor-controller temperature, degC')
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parser.add_argument('--valid', type=int, default=7, help='validity mask 0..7, default all valid')
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parser.add_argument('--interface', default='pcan')
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parser.add_argument('--channel', default='PCAN_USBBUS1')
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parser.add_argument('--bitrate', type=int, choices=(250000, 500000), default=250000)
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parser.add_argument('--period', type=float, default=0.1, help='seconds, default 100 ms')
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parser.add_argument('--duration', type=float, default=10, help='seconds; finite transmission')
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parser.add_argument('--dll-dir', help='Windows adapter DLL directory, if required')
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parser.add_argument('--dry-run', action='store_true', help='print payload without opening CAN')
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args = parser.parse_args()
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try:
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payload = build_payload(args.torque, args.motor_temp, args.mcu_temp, args.valid)
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except ValueError as exc:
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parser.error(str(exc))
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if not (0 < args.period <= 2 and 0 < args.duration < float('inf')):
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parser.error('period must be >0 and <=2 seconds; duration must be positive and finite')
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print(f'Standard ID 0x182, DLC 8, data {payload.hex(" ").upper()}, bitrate {args.bitrate}', flush=True)
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if args.dry_run:
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return
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dll_handle = None
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if args.dll_dir:
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path = os.path.abspath(args.dll_dir)
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os.environ['PATH'] = path + os.pathsep + os.environ['PATH']
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if hasattr(os, 'add_dll_directory'):
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dll_handle = os.add_dll_directory(path)
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import can
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count = 0
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try:
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with can.Bus(interface=args.interface, channel=args.channel, bitrate=args.bitrate) as bus:
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message = can.Message(arbitration_id=0x182, is_extended_id=False, data=payload)
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started = time.monotonic()
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deadline = started
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while time.monotonic() < started + args.duration:
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bus.send(message, timeout=0.2)
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count += 1
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deadline += args.period
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time.sleep(max(0, min(deadline, started + args.duration) - time.monotonic()))
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finally:
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if dll_handle is not None:
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dll_handle.close()
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print(f'Sent {count} frames. Values expire after 2 seconds without valid input.')
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if __name__ == '__main__':
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main()
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