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Максим Шишов
2021-07-13 15:38:13 +03:00
parent e17a82acf2
commit 31ec56fb25
9 changed files with 123 additions and 55 deletions
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76
main.py
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@@ -1,23 +1,75 @@
import kx
import can
import protocol_kx
import struct
import os
Init_Struct = dict([
(protocol_kx.KDescription.K_SBL_ID.value, 0.0),
(protocol_kx.KDescription.K_TEST_COMP_RX_CHAIN_DISABLED.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCES_ENABLED.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCES_COUNT.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X.value, 9.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y.value, 10.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Z.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_VEL_X.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_VEL_Y.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_VEL_Z.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_SIGLVL.value, 450),
(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X_MIN.value, 1.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y_MIN.value, 1.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Z_MIN.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X_MAX.value, 11.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y_MAX.value, 17.0),
(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Z_MAX.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_POS_X.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Y.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Z.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_VEL_X.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_VEL_Y.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_VEL_Z.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_SIGLVL.value, 950),
(protocol_kx.KDescription.K_TEST_SOURCE_2_POS_X_MIN.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Y_MIN.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Z_MIN.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_POS_X_MAX.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Y_MAX.value, 0.0),
(protocol_kx.KDescription.K_TEST_SOURCE_2_POS_Z_MAX.value, 0.0),
(protocol_kx.KDescription.K_JPDA_DT.value, 0.0),
(protocol_kx.KDescription.K_JPDA_DX.value, 0.0),
(protocol_kx.KDescription.K_JPDA_DY.value, 0.0),
(protocol_kx.KDescription.K_JPDA_DVX.value, 0.0),
(protocol_kx.KDescription.K_JPDA_DVY.value, 0.0),
(protocol_kx.KDescription.K_JPDA_DR.value, 0.0),
(protocol_kx.KDescription.K_JPDA_DV.value, 0.0),
(protocol_kx.KDescription.K_JPDA_DA.value, 0.0),
(protocol_kx.KDescription.K_JPDA_ASSOC_DR.value, 0.0),
(protocol_kx.KDescription.K_JPDA_ASSOC_DV.value, 0.0),
(protocol_kx.KDescription.K_JPDA_ASSOC_DA.value, 0.0),
(protocol_kx.KDescription.K_JPDA_CONFIRM_COUNT.value, 0.0),
(protocol_kx.KDescription.K_JPDA_CONFIRM_PERIOD.value, 0.0),
(protocol_kx.KDescription.K_JPDA_MISSED_COUNT.value, 0.0),
(protocol_kx.KDescription.K_JPDA_PK_VAL_THLD.value, 0.0),
(protocol_kx.KDescription.K_JPDA_T_SX.value, 0.0),
(protocol_kx.KDescription.K_JPDA_T_SY.value, 0.0),
(protocol_kx.KDescription.K_JPDA_T_SVX.value, 0.0),
(protocol_kx.KDescription.K_JPDA_T_SVY.value, 0.0),
(protocol_kx.KDescription.K_JPDA_ADV_PK_VAL.value, 0.0),
(protocol_kx.KDescription.K_JPDA_ADV_SY_MULT.value, 0.0),
(protocol_kx.KDescription.K_JPDA_BND_BOX_XL.value, 0.0),
(protocol_kx.KDescription.K_JPDA_BND_BOX_XR.value, 0.0),
(protocol_kx.KDescription.K_JPDA_BND_BOX_YB.value, 0.0),
(protocol_kx.KDescription.K_JPDA_BND_BOX_YT.value, 0.0),
(protocol_kx.KDescription.K_MRR_RX_GAIN.value, 0.0),
(protocol_kx.KDescription.K_USRR_RX_GAIN.value, 0.0),
(protocol_kx.KDescription.K_TO_DSS.value, 0.0),
(protocol_kx.KDescription.K_TO_DSS_2.value, 0.0)
])
can0 = can.interface.Bus(bustype='socketcan', channel='can0', bitrate=500000)
KXLOX = kx.KX(protocol_kx.KDescription.K_TEST_SOURCE_2_SIGLVL.value, 950, 255, can0)
KXLOX = kx.KX(255, can0, Init_Struct)
KXLOX.send_test_source_enable(0)
KXLOX.KXInit(protocol_kx.KDescription.K_SBL_ID.value, 43)
KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X_MAX.value, 21)
KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y_MAX.value, 21)
KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X_MIN.value, 1)
KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y_MIN.value, 1)
KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_Y.value, 7)
KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_POS_X.value, 7)
KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCE_1_SIGLVL.value, 450)
KXLOX.KXInit(protocol_kx.KDescription.K_TEST_SOURCES_ENABLED.value, 1)
KXLOX.send_test_source_enable(1)
KXLOX.send_receive_cmd()