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ELM: Car simulator supports sending multiline CAN messages.

master
Jessy Diamond Exum 2017-08-04 19:09:55 -07:00
parent 81567a3773
commit f05e638461
1 changed files with 44 additions and 30 deletions
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74
tests/elm_car_simulator.py
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@ -5,6 +5,7 @@ import sys
import os
import struct
import binascii
import time
sys.path.append(os.path.join(os.path.dirname(os.path.realpath(__file__)), ".."))
from panda import Panda
@ -15,36 +16,35 @@ if __name__ == "__main__":
p.set_can_speed_kbps(0, 500)
p.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
multipart_data = None
while True:
can_recv = p.can_recv()
if can_recv:
a, b, c, d = can_recv[0]
#print(hex(a),b,repr(c),d)
for address, ts, data, src in can_recv:
if src is 0 and len(data) >= 2:
#Check functional address of 11 bit and 29 bit CAN
dat_trim = data[1:1+data[0]]
if address == 0x18db33f1: continue
print("MSG", binascii.hexlify(dat_trim), "Addr:", hex(address), "Mode:", hex(dat_trim[0])[2:].zfill(2),
"PID:", hex(dat_trim[1])[2:].zfill(2), binascii.hexlify(dat_trim[2:]) if dat_trim[2:] else '')
if address == 0x7DF:# or address == 0x18db33f1:
print("MSG", binascii.hexlify(dat_trim), "Addr:", hex(address),
"Mode:", hex(dat_trim[0])[2:].zfill(2),
"PID:", hex(dat_trim[1])[2:].zfill(2), "Len:", data[0],
binascii.hexlify(dat_trim[2:]) if dat_trim[2:] else '')
if address == 0x7DF or address == 0x7E0:# or address == 0x18db33f1:
outmsg = None
"""
MSG b'0133' Addr: 0x7df Mode: 01 PID: 33
MSG b'010b' Addr: 0x7df Mode: 01 PID: 0b
MSG b'0110' Addr: 0x7df Mode: 01 PID: 10
MSG b'010c' Addr: 0x7df Mode: 01 PID: 0c
Reply b'0441001a'
MSG b'010d' Addr: 0x7df Mode: 01 PID: 0d
Reply b'034100'
MSG b'0104' Addr: 0x7df Mode: 01 PID: 04
MSG b'0133' Addr: 0x7df Mode: 01 PID: 33
MSG b'010c' Addr: 0x7df Mode: 01 PID: 0c
Reply b'0441001a'
MSG b'0111' Addr: 0x7df Mode: 01 PID: 11
Reply b'034100'
"""
if data[1] == 0x01: # Mode: Show current data
if data[:3] == b'\x30\x00\x00' and len(multipart_data):
print("Request for more data");
msgnum = 1
while(multipart_data):
datalen = min(7, len(multipart_data))
msgpiece = struct.pack("B", 0x20 | msgnum) + multipart_data[:datalen]
print(" Reply", binascii.hexlify(msgpiece))
p.can_send(outaddr, msgpiece + b'\x00'*(8-len(msgpiece)), 0)
multipart_data = multipart_data[7:]
msgnum = (msgnum+1)%0x10
time.sleep(0.01)
elif data[1] == 0x01: # Mode: Show current data
if data[2] == 0x00: #List supported things
outmsg = b"\xff\xff\xff\xfe"#b"\xBE\x1F\xB8\x10" #Bitfield, random features
elif data[2] == 0x01: # Monitor Status since DTC cleared
@ -65,12 +65,26 @@ if __name__ == "__main__":
outmsg = b"\x90"
elif data[2] == 0x33: # Absolute Barometric Pressure
outmsg = b"\x90"
elif data[1] == 0x09: # Mode: Request vehicle information
if data[2] == 0x02: # Show VIN
outmsg = b"1D4GP00R55B123456"
if data[2] == 0xFF: # test very long multi message
outmsg = b"\xAA"*(0xFFF-3)
if outmsg:
#print("Got req msg")
outmsg = struct.pack("BBB", len(outmsg)+2, 0x40|data[1], data[2]) + outmsg
outmsg += b'\x00'*(8-len(outmsg))
outaddr = 0x7E8 if address == 0x7DF else 0
#b"\x06\x41\x00\xBE\x1F\xB8\x10\x00"
#Should display on elm '41 00 BE 1F B8 10'
print(" Reply", binascii.hexlify(outmsg))#[:outmsg[0]]+1))
p.can_send(outaddr, outmsg, 0)
outaddr = 0x7E8 if address == 0x7DF or address == 0x7E0 else 0
if len(outmsg) <= 5:
outmsg = struct.pack("BBB", len(outmsg)+2, 0x40|data[1], data[2]) + outmsg
outmsg += b'\x00'*(8-len(outmsg))
print(" Reply", binascii.hexlify(outmsg))
p.can_send(outaddr, outmsg, 0)
else:
first_msg_len = min(3, len(outmsg)%7)
payload_len = len(outmsg)+3
msgpiece = struct.pack("BBBBB", 0x10 | ((payload_len>>8)&0xF),
payload_len&0xFF,
0x40|data[1], data[2], 1) + outmsg[:first_msg_len]
print(" Reply", binascii.hexlify(msgpiece))
p.can_send(outaddr, msgpiece + b'\x00'*(8-len(msgpiece)), 0)
multipart_data = outmsg[first_msg_len:]