updating stuff

flake.nix

@@ -92,6 +92,7 @@
           proto_gen_pkg
           ht_can_pkg
           cmake
+          can-utils
         ];
         # Setting up the environment variables you need during
         # development.

py_data_acq/py_data_acq/common/protobuf_helpers.py

@@ -1,5 +1,6 @@
 from hytech_np_proto_py import hytech_pb2
 import google.protobuf.message_factory
+from cantools.database import *
 
 
 def get_msg_names_and_classes():
@@ -23,5 +24,8 @@ def pack_protobuf_msg(cantools_dict: dict, msg_name: str, message_classes):
     if msg_name in message_classes:
         pb_msg = message_classes[msg_name]()
     for key in cantools_dict.keys():
-        setattr(pb_msg, key, cantools_dict[key])
+        if(type(cantools_dict[key]) is namedsignalvalue.NamedSignalValue):
+            setattr(pb_msg, key, cantools_dict[key].value)
+        else:
+            setattr(pb_msg, key, cantools_dict[key])
     return pb_msg

py_data_acq/runner.py

@@ -26,27 +26,51 @@
 can_methods = {
     "debug": [UdpMulticastBus.DEFAULT_GROUP_IPv6, 'udp_multicast'],
     "local_can_usb_KV": [0, 'kvaser'],
+    "local_debug": ["vcan0", 'socketcan']
 }
 
-async def continuous_can_receiver(can_msg_decoder: cantools.db.Database, message_classes, queue, q2, config):
-    with can.Bus(
-        channel=config[0], interface=config[1]
-    ) as bus:
-        reader = can.AsyncBufferedReader()
-        listeners: List[MessageRecipient] = [
-            reader  # AsyncBufferedReader() listener
-        ]
-        loop = asyncio.get_running_loop()
-        notifier = can.Notifier(bus, listeners, loop=loop)
-        while True:
-            msg = await reader.get_message()
+async def continuous_can_receiver(can_msg_decoder: cantools.db.Database, message_classes, queue, q2, can_bus):
+    loop = asyncio.get_event_loop()
+    reader = can.AsyncBufferedReader()
+    notifier = can.Notifier(can_bus, [reader], loop=loop)
+
+    while True:
+        # Wait for the next message from the buffer
+        msg = await reader.get_message()
+        try:
+
             decoded_msg = can_msg_decoder.decode_message(msg.arbitration_id, msg.data, decode_containers=True)
             msg = can_msg_decoder.get_message_by_frame_id(msg.arbitration_id)
             msg = pb_helpers.pack_protobuf_msg(decoded_msg, msg.name.lower(), message_classes)
-
             data = QueueData(msg.DESCRIPTOR.name, msg)
+            # await asyncio.sleep(1)
             await queue.put(data)
             await q2.put(data)
+        except:
+            pass
+
+    # Don't forget to stop the notifier to clean up resources.
+    notifier.stop()
+
+
+    # with can.Bus(
+    #     interface='socketcan', channel='vcan0', receive_own_messages=True
+    # ) as bus:
+    # # bus = can.Bus(interface='socketcan', channel='vcan0', receive_own_messages=True)  
+    #     reader = can.AsyncBufferedReader()
+    #     loop = asyncio.get_running_loop()
+    #     notifier = can.Notifier(bus, [reader], loop=loop)
+    #     while True:
+    #         msg = await reader.get_message()
+    #         decoded_msg = can_msg_decoder.decode_message(msg.arbitration_id, msg.data, decode_containers=True)
+    #         msg = can_msg_decoder.get_message_by_frame_id(msg.arbitration_id)
+    #         msg = pb_helpers.pack_protobuf_msg(decoded_msg, msg.name.lower(), message_classes)
+    #         print("received new messgae") 
+    #         data = QueueData(msg.DESCRIPTOR.name, msg)
+    #         await queue.put(data)
+    #         await q2.put(data)
+
+    #     notifier.stop()
 
 async def write_data_to_mcap(queue, mcap_writer):
     async with mcap_writer as mcw:
@@ -62,6 +86,7 @@ async def run(logger):
 
     # for example, we will have CAN as our only input as of right now but we may need to add in 
     # a sensor that inputs over UART or ethernet
+    bus = can.Bus(interface='socketcan', channel='vcan0', receive_own_messages=True)
     queue = asyncio.Queue()
     queue2 = asyncio.Queue()
     path_to_bin = ""
@@ -84,7 +109,7 @@ async def run(logger):
 
     mcap_writer = HTPBMcapWriter(".", list_of_msg_names, True)
     mcap_server = MCAPServer(mcap_writer=mcap_writer)
-    receiver_task = asyncio.create_task(continuous_can_receiver(db, msg_pb_classes, queue, queue2, can_methods["debug"]))           
+    receiver_task = asyncio.create_task(continuous_can_receiver(db, msg_pb_classes, queue, queue2, bus))           
     fx_task = asyncio.create_task(fxglv_websocket_consume_data(queue, fx_s))
     mcap_task = asyncio.create_task(write_data_to_mcap(queue2, mcap_writer))
     srv_task = asyncio.create_task(mcap_server.start_server())
@@ -94,7 +119,10 @@ async def run(logger):
     # and schema in the foxglove websocket server. 
 
     await asyncio.gather(receiver_task, fx_task, mcap_task, srv_task)
+    # await asyncio.gather(receiver_task, fx_task, mcap_task)
 
+    # await asyncio.gather(receiver_task, mcap_task, srv_task)
+    # await asyncio.gather(receiver_task)
 
 if __name__ == "__main__":
     logging.basicConfig()

py_dbc_proto_gen/dbc_to_proto.py

@@ -28,7 +28,8 @@ def append_proto_message_from_CAN_message(file, can_msg: can.message.Message):
     line_index = 0
     for sig in can_msg.signals:
         line_index += 1
-        if sig.is_float or (
+
+        if sig.is_float or ((sig.scale is not None) and (sig.scale != 1.0)) or (
             type(sig.conversion)
             is not type(conversion.IdentityConversion(is_float=False))
             and not type(
@@ -44,7 +45,7 @@ def append_proto_message_from_CAN_message(file, can_msg: can.message.Message):
                 + str(line_index)
                 + ";"
             )
-        elif sig.choices is not None:
+        elif sig.choices is not None and sig.length is not 1:
             line = (
                 "    string "
                 + create_field_name(sig.name)