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Location: HydroBot/hydrobot-software/hydrobot.py
daaed5044a8c
4.1 KiB
text/x-python
Converted to more object oriented structure
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 | import sys
import time
import _thread
from canard import can, bus
from canard.hw import socketcan
from canard.file import jsondb
from influxdb import InfluxDBClient
import configparser
config = configparser.ConfigParser()
config.read("config.txt")
DEBUG_CAN = config.getboolean("debug", "can")
DEBUG_CAN_DETAIL = config.getboolean("debug", "can_detail")
class Database:
def __init__(self):
host = config.get("database", "host")
port = config.get("database", "port")
username = config.get("database", "username")
password = config.get("database", "password")
database = config.get("database", "database")
self.client = InfluxDBClient(host, port, username, password, database)
def log_data(self, msgdb, message):
if message == msgdb.AirSense:
json_body = [
{
"measurement": "air_temp",
"fields": {
"value": (float)(message.Temperature.value)
}
},
{
"measurement": "air_humidity",
"fields": {
"value": (float)(message.Humidity.value)
}
},
{
"measurement": "air_pressure",
"fields": {
"value": (float)(message.Pressure.value)
}
}
]
self.client.write_points(json_body)
if message == msgdb.RelayDriveIn:
json_body = [
{
"measurement": "input_1",
"fields": {
"value": (float)(message.Input1.value)
}
},
{
"measurement": "input_2",
"fields": {
"value": (float)(message.Input2.value)
}
},
{
"measurement": "input_3",
"fields": {
"value": (float)(message.Input3.value)
}
},
{
"measurement": "input_4",
"fields": {
"value": (float)(message.Input4.value)
}
}
]
self.client.write_points(json_body)
class CanBus:
def __init__(self, database):
self.database = database
self.dev = socketcan.SocketCanDev("can0")
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):
_thread.start_new_thread(self.process_can, ())
def process_can(self):
while True:
frame = self.dev.recv()
message = self.msgdb.decode(frame)
if message:
for s in message._signals.values():
if DEBUG_CAN:
print("Received CAN message! ID: " + hex(message.id))
if DEBUG_CAN_DETAIL:
print(s)
print(s.value)
self.database.log_data(self.msgdb, message)
def send_can(self):
self.relay_send_msg.Nothing.value = 0
self.relay_send_msg.Output1.value = 0
self.relay_send_msg.Output2.value = 0
self.relay_send_msg.Output3.value = 0
self.relay_send_msg.Output4.value = 0
if DEBUG_CAN:
print("Send CAN message! ID: " + hex(self.relay_send_msg.id))
if DEBUG_CAN_DETAIL:
print(self.relay_send_msg)
self.dev.send(self.relay_send_msg.encode())
def main():
database = Database()
canbus = CanBus(database)
canbus.start()
canbus.start_receive()
while True:
canbus.send_can()
time.sleep(1)
if __name__ == "__main__":
main()
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