HydroBot/hydrobot-software Changeset - 4d9b047f8436

Changeset - 4d9b047f8436

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matthewreed - 9 years ago 2016-08-17 22:06:44

Updated CAN code to use CanQueue for sending and receiving

1 file changed with 12 insertions and 11 deletions:

hydrobot.py

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hydrobot.py

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 import sys
 import time
 import _thread
 import ast
 import configparser
 import datetime
 from canard import can, messaging
 from canard.hw import socketcan
 from canard.hw import cantact
 from canard.file import jsondb
 from canard.utils import queue
 from influxdb import InfluxDBClient
 from influxdb import SeriesHelper
 from apscheduler.schedulers.background import BackgroundScheduler
 import PID
 from pytz import timezone
 import logging
 import signal
 #TODO
 #fix temperature offsets
 #add periodic output refresh
@@ @@ -89,62 +90,63 @@ class Database: @@
 class CanBus:
     def __init__(self, database):
         self.database = database
         self.dev = socketcan.SocketCanDev("can0")
         #self.dev = cantact.CantactDev("/dev/ttyACM8")
         #self.dev.set_bitrate(500000)
         self.queue = queue.CanQueue(self.dev)
         parser = jsondb.JsonDbParser()
         self.msgdb = parser.parse('hydrobot_can.json')
         self.temp_msg = self.msgdb.AirSense
         self.relay_msg = self.msgdb.RelayDriveIn
         self.relay_send_msg = self.msgdb.RelayDriveOut
     def start(self):
         self.dev.start()
     def start_receive(self):
         self.queue.start()
         _thread.start_new_thread(self.process_can, ())
     def process_can(self):
         while True:
             frame = self.dev.recv()
             message = self.msgdb.decode(frame)
             if message:
                 logger.debug("Received CAN message! ID: " + hex(message.id))
                 self.database.log_data(self.msgdb, message)
             frame = self.queue.recv()
             if frame != None:
                 message = self.msgdb.decode(frame)
                 if message:
                     logger.debug("Received CAN message! ID: " + hex(message.id))
                     self.database.log_data(self.msgdb, message)
     def send_can(self):
         self.relay_send_msg.Nothing.value = 0
         if self.relay_send_msg.Output1.value == 0:
             self.relay_send_msg.Output1.value = 1
         else:
             self.relay_send_msg.Output1.value = 0
         self.relay_send_msg.Output2.value = 1
         self.relay_send_msg.Output3.value = 1
         self.relay_send_msg.Output4.value = 1
         logger.debug("Send CAN message! ID: " + hex(self.relay_send_msg.id) + " Data: " + str(self.relay_send_msg.data))
-        self.dev.send(self.relay_send_msg.encode())
+        self.queue.send(self.relay_send_msg.encode())
     def set_output(self, module, output, state):
         logger.info("Output! " + module + " " + output + " " + str(state))
         msg = self.msgdb.lookup_message(module)
         msg.lookup_signal(output).value = state
-        self.dev.send(msg.encode())
+        self.queue.send(msg.encode())
         if msg.lookup_signal(output) == msg.Output1:
             MySeriesHelper(measurement='output_1', value=state)
         if msg.lookup_signal(output) == msg.Output2:
             MySeriesHelper(measurement='output_2', value=state)
         if msg.lookup_signal(output) == msg.Output3:
             MySeriesHelper(measurement='output_3', value=state)
         if msg.lookup_signal(output) == msg.Output4:
             MySeriesHelper(measurement='output_4', value=state)
 class Scheduler:
@@ @@ -246,25 +248,24 @@ class Scheduler: @@
             self.apscheduler.add_job(self.canbus.set_output, "date", run_date=run_time, args=[module_out, signal_out, 0])
 def func():
     print(1)
 def main():
     database = Database()
     canbus = CanBus(database)
     canbus.start()
     canbus.start_receive()
     scheduler = Scheduler(canbus)
     scheduler.start()
     while True:
         time.sleep(0.001)
 def close_program(signum, frame):
     logger.info("Closing now!")
     sys.exit(0)
 signal.signal(signal.SIGINT, close_program)

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