V0.1

gear_change.py

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+import sqlite3
+import time
+def init():
+    gear_cmd = 0
+    auto_acc=0
+    brk_open=0
+    brk_change=0
+    stop=0
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set gear_cmd='%s',auto_acc='%s',brk_open='%s',brk_change='%s' ,stop='%s'WHERE id = 1"%(
+        gear_cmd,auto_acc,brk_open,brk_change,stop)
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+def gear_p():
+    print('P')
+    gear_cmd = 1
+    auto_acc=0
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1"%(gear_cmd,auto_acc)
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+
+def gear_n():
+    print('N')
+    gear_cmd = 3  # n
+    auto_acc=0
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1"%(gear_cmd,auto_acc)
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+def gear_r():
+    gear_cmd = 2  # r
+    print('r')
+    auto_acc = input("请输入油门深度：")
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1"%(gear_cmd,auto_acc)
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+def gear_d():
+    gear_cmd = 4  # r
+    print('d')
+    auto_acc = input("请输入油门深度：")
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set gear_cmd='%s',auto_acc='%s' WHERE id = 1"%(gear_cmd,auto_acc)
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+def shache():
+    brk_open = 30
+    brk_change=1
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set brk_open='%s',brk_change='%s' WHERE id = 1"%(brk_open,brk_change)
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+def shache2():
+    brk_change=0
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set brk_change='%s' WHERE id = 1"%brk_change
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+def stop():
+    stop=1
+    db_file = "geardb.db"
+    conn = sqlite3.connect(db_file)
+    cur = conn.cursor()
+    # sql='INSERT INTO geardb(id) VALUES(1);'
+    sql = "update geardb set stop='%s' WHERE id = 1"%stop
+    cur.execute(sql)
+    conn.commit()
+    cur.close()
+    conn.close()
+def main():
+    while True:
+        gear_change = int(input('请输入档位：\n'
+                                '1:P档\n'
+                                '2:R档\n'
+                                '3:N档\n'
+                                '4:D档\n'
+                                '5:刹车\n'
+                                '6:紧急停止\n'))
+        if gear_change==1:
+            gear_p()
+        elif gear_change==3:
+            gear_n()
+        elif gear_change==2:
+            gear_r()
+        elif gear_change==4:
+            gear_d()
+        elif gear_change==5:
+            shache()
+            time.sleep(0.1)
+            shache2()
+        elif gear_change==6:
+            stop()
+
+        else:
+            print('请重新输入')
+if __name__=='__main__':
+    init()
+    main()

geartest2.py

@@ -0,0 +1,235 @@
+import os
+import datetime
+import threading
+import time
+
+import can  # 需要安装python-can库  pip install python-can
+from can import bus
+import geardb
+
+
+# def option():
+#     global auto_acc, gear_cmd, brk_open, brk_change, stop
+#     auto_acc = 0  # 加速踏板行程0~100%
+#     brk_open = 100  # 刹车深度0-100%
+#     gear_cmd = 4  # 需求档位 1:P 2:R 3:N 4:D
+#     brk_change = 0  # 默认为0 变更为1
+#     stop = 0  # 紧急停止 默认为0
+
+
+# can1 = can.interface.Bus(channel = 'can0', bustype = 'socketcan') #python-can 4.0需要用这个
+def update():
+    global gear_cmd,auto_acc,brk_open,brk_change,stop
+    while True:
+        date = geardb.table_quer()
+        gear_cmd = int(date[0][1])   # 需求档位 1:P 2:R 3:N 4:D
+        auto_acc = int(date[0][2])  # 加速踏板行程0~100%
+        brk_open = int(date[0][3]) # 刹车深度0-100%
+        brk_change = int(date[0][4])  # 默认为0 变更为1
+        stop = int(date[0][5])  # 紧急停止 默认为0
+        time.sleep(0.05)
+# 获取当前档位
+def can4b8():
+    global gear_act
+
+    bus.set_filters = [{"can_id": 0x04b8, "can_mask": 0xFFFF, "extended": False}]
+    # 连接can1
+
+    can1 = can.interface.Bus(channel='can1', bustype='socketcan', can_filters=bus.set_filters)  # python-can 4.0需要用这个
+
+    # 一直循环接收数据
+    while True:
+        msg = can1.recv(3.0)  # recv()中定义超时接收时间
+        # print(msg)
+        can4b81 = str(msg).replace(' ', '')
+        can4b8id = can4b81.find('ID')
+        can4b8dl = can4b81.find('DL')
+        can_id = can4b81[can4b8id + 3:can4b8id + 7]  # id
+        # print(can_id)
+        # print(can4b81)
+        # print(can4b8id)
+        gear_act0 = can4b81[can4b8dl + 10:can4b8dl + 11]  # gear
+        a = int(gear_act0)
+        if can_id == '04b8' and a > 1:
+
+            gear_act1 = bin(int(gear_act0))
+            gear_act2 = gear_act1[:-1]
+            gear_act = int(gear_act2, 2)
+            # if gear_act == 1:
+            #     print('实际档位：为P档')
+            # elif gear_act==2:
+            #     print('实际档位：为R档')
+            # elif gear_act==3:
+            #     print('实际档位：为N档')
+            # elif gear_act==4:
+            #     print('实际档位：为D档')
+            # else:
+            #     print('档位识别失败')
+
+        else:
+            print('未获取到实际挡位')
+
+
+# 刹车转换
+def brk_open_conversion(brk_open10):
+    global brk_open_low, brk_open_high
+    if 100 >= brk_open10 >= 0:
+        brk_open = brk_open10 * 100
+        brk_open16 = hex(brk_open)
+        # print(brk_open16)
+        brk_open_all = brk_open16[2:].upper()
+        if len(str(brk_open_all)) == 1:
+            brk_open_low = "0%s" % brk_open_all
+            brk_open_high = '00'
+        elif len(str(brk_open_all)) == 2:
+            brk_open_low = brk_open_all
+            brk_open_high = '00'
+        elif len(str(brk_open_all)) == 3:
+            brk_open_low = brk_open_all[1: 3]
+            brk_open_high = "0%s" % brk_open_all[0: 1]
+        elif len(str(brk_open_all)) == 4:
+            brk_open_low = brk_open_all[2: 4]
+            brk_open_high = brk_open_all[0: 2]
+        # print(brk_open_low, brk_open_high)
+    else:
+        print('刹车深度输入范围0~100')
+
+
+# 油门转换
+def acc_conversion(auto_acc10):
+    global auto_acc_all
+    if 100 >= auto_acc10 >= 0:
+        auto_acc16 = hex(auto_acc10)
+        # print(auto_acc16)
+        auto_acc_all16 = auto_acc16[2:].upper()
+        # print(auto_acc_all16)
+        if len(str(auto_acc_all16)) == 1:
+            auto_acc_all = "0%s" % auto_acc_all16
+        else:
+            auto_acc_all = auto_acc_all16
+        # print(auto_acc_all)
+    else:
+        print('加速踏板深度输入范围0~100')
+
+
+# 设置刹车
+def brk_open_option():
+    global brk_change
+    while True:
+        brk_open_conversion(brk_open)
+        if brk_change == 1:
+            print('cansend can2 121#%s%s010000000000' % (brk_open_low, brk_open_high))
+            os.system('cansend can2 121#%s%s010000000000' % (brk_open_low, brk_open_high))
+            brk_change = 0
+        time.sleep(0.01)
+
+
+# 设置P档
+def gear_P():
+    os.system('cansend can0 161#7200000500000000')  # 挂p档切自动驾驶模式
+    # print('cansend can0 161#7200000500000000')  # 挂p档切自动驾驶模式
+
+
+# 设置N档
+def gear_N():
+    os.system('cansend can0 161#7200000000000000')  # 挂N档切自动驾驶模式
+    # print('cansend can0 161#7200000000000000')  # 挂N
+
+
+# 保持D档
+def gear_keep_D():
+    acc_conversion(int(auto_acc))
+    os.system('cansend can0 161#72%s000400000000' % auto_acc_all)  # 挂D档切自动驾驶模式
+    # print('cansend can0 161#72%s000400000000' % auto_acc_all)  # 挂D档切自动驾驶模式
+
+
+# 保持R档
+def gear_keep_R():
+    acc_conversion(int(auto_acc))
+    os.system('cansend can0 161#72%s000700000000' % auto_acc_all)  # 挂R档切自动驾驶模式
+    # print('cansend can0 161#72%s000700000000' % auto_acc_all)  # 挂R档切自动驾驶模式
+
+
+# 切换D档
+def gear_D():
+    os.system('cansend can2 121#1027010000000000')  # 踩刹车
+    acc_conversion(int(auto_acc))
+    os.system('cansend can0 161#72%s000400000000' % auto_acc_all)  # 挂D档切自动驾驶模式
+    os.system('cansend can2 121#0000010000000000')  # 松刹车
+    # print('cansend can0 161#72%s000400000000' % auto_acc_all)  # 挂D档切自动驾驶模式
+
+
+def gear_R():
+    os.system('cansend can2 121#1027010000000000')  # 踩刹车
+    acc_conversion(int(auto_acc))
+    os.system('cansend can0 161#72%s000700000000' % auto_acc_all)  # 挂R档切自动驾驶模式
+    os.system('cansend can2 121#0000010000000000')  # 松刹车
+    # print('cansend can0 161#72%s000700000000' % auto_acc_all)  # 挂R档切自动驾驶模式
+
+
+def main():
+    while True:
+        if stop == 0:
+            print('当前档位：',gear_act)
+            if gear_cmd == 1:
+                if gear_act == 1:
+                    print('当前已是P档')
+                else:
+                    print('切换P档')
+                    gear_P()
+            elif gear_cmd == 3:
+                if gear_act == 3:
+                    print('当前已是N档')
+                else:
+                    print('切换N档')
+                    gear_N()
+            elif gear_cmd == 4:
+                if gear_act == 4:
+                    print('当前已是D档')
+                    gear_keep_D()
+                else:
+                    print('切换D档')
+                    gear_D()
+                    # os.system('cansend can2 121#0000010000000000') #测试用
+            elif gear_cmd == 2:
+                if gear_act == 2:
+                    print('当前已是R档')
+                    gear_keep_R()
+                else:
+                    print('切换R档')
+                    gear_R()
+            else:
+                print('未设定档位')
+        else:
+            print('紧急停止')
+            os.system('cansend can2 121#1027010000000000')
+            break
+        time.sleep(0.01)
+
+
+# 刹车初始值 100%
+brk_open_low = '10'
+brk_open_high = '27'
+# 初始加速踏板行程0
+auto_acc16 = '00'
+
+gear_act = 0  # 实际挡位
+gear_cmd = 4  # 需求档位 1:P 2:R 3:N 4:D
+auto_acc = 0  # 加速踏板行程0~100%
+brk_open = 100  # 刹车深度0-100%
+brk_change = 0  # 默认为0 变更为1
+stop = 0  # 紧急停止 默认为0
+
+
+# if __name__ == '__main__':
+#     # t1 = threading.Thread(target=option)
+#     t2 = threading.Thread(target=brk_open_option)
+#     t3 = threading.Thread(target=can4b8)
+#     t4 = threading.Thread(target=main)
+#     t5 = threading.Thread(target=update)
+#     # option()
+#     # t1.start()
+#     t2.start()
+#     t3.start()
+#     t4.start()
+#     t5.start()