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 8 insertions and 7 deletions:

hydrobot.py

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hydrobot.py

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@@ @@ -8,6 +8,7 @@ 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
@@ @@ -98,6 +99,8 @@ class CanBus: @@
         #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')
@@ @@ -106,14 +109,13 @@ class CanBus: @@
         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()
             frame = self.queue.recv()
             if frame != None:
             message = self.msgdb.decode(frame)
             if message:
                 logger.debug("Received CAN message! ID: " + hex(message.id))
@@ @@ -129,13 +131,13 @@ class CanBus: @@
         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)
@@ @@ -255,7 +257,6 @@ def main(): @@
     canbus = CanBus(database)
     canbus.start()
     canbus.start_receive()
     scheduler = Scheduler(canbus)
     scheduler.start()

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